R_loss: 0.04890, X_S_loss: 0.05778, d_loss: 0.04999, f_S_loss: 0.06895, loss: 0.22562, val_R_loss: 0.04707, val_X_S_loss: 0.05574, val_d_loss: 0.04786, val_f_S_loss: 0.06713, val_loss: 0.21780, learning_rate: 0.00015
