R_loss: 0.05077, X_C_loss: 0.07651, X_S_loss: 0.05944, d_loss: 0.05272, f_S_loss: 0.07219, loss: 0.37797, upsilon_loss: 0.06634, val_R_loss: 0.04754, val_X_C_loss: 0.07385, val_X_S_loss: 0.05743, val_d_loss: 0.04939, val_f_S_loss: 0.06936, val_loss: 0.35993, val_upsilon_loss: 0.06236, learning_rate: 0.00030
