R_loss: 0.05061, X_C_loss: 0.06630, X_S_loss: 0.05888, d_loss: 0.05242, f_S_loss: 0.06979, loss: 0.35578, upsilon_loss: 0.05780, val_R_loss: 0.04765, val_X_C_loss: 0.06244, val_X_S_loss: 0.05723, val_d_loss: 0.04935, val_f_S_loss: 0.06748, val_loss: 0.33755, val_upsilon_loss: 0.05339, learning_rate: 0.00030
