R_loss: 0.04991, X_S_loss: 0.05734, d_loss: 0.05071, f_S_loss: 0.06853, loss: 0.22648, val_R_loss: 0.04738, val_X_S_loss: 0.05558, val_d_loss: 0.04813, val_f_S_loss: 0.06661, val_loss: 0.21770, learning_rate: 0.00030
