R_loss: 0.05034, X_C_loss: 0.06140, X_S_loss: 0.05965, d_loss: 0.05235, f_S_loss: 0.06935, loss: 0.34777, upsilon_loss: 0.05467, val_R_loss: 0.04765, val_X_C_loss: 0.05970, val_X_S_loss: 0.05763, val_d_loss: 0.04920, val_f_S_loss: 0.06722, val_loss: 0.33313, val_upsilon_loss: 0.05173, learning_rate: 0.00030
