R_loss: 0.04944, X_C_loss: 0.06121, X_S_loss: 0.05961, d_loss: 0.05176, f_S_loss: 0.06972, loss: 0.34498, upsilon_loss: 0.05324, val_R_loss: 0.04686, val_X_C_loss: 0.05807, val_X_S_loss: 0.05745, val_d_loss: 0.04874, val_f_S_loss: 0.06734, val_loss: 0.32806, val_upsilon_loss: 0.04961, learning_rate: 0.00030
