R_loss: 0.04967, X_C_loss: 0.05990, X_S_loss: 0.05775, d_loss: 0.05158, f_S_loss: 0.06864, loss: 0.34095, upsilon_loss: 0.05341, val_R_loss: 0.04697, val_X_C_loss: 0.05780, val_X_S_loss: 0.05643, val_d_loss: 0.04871, val_f_S_loss: 0.06683, val_loss: 0.32692, val_upsilon_loss: 0.05019, learning_rate: 0.00030
