R_loss: 0.03257, X_C_loss: 0.04617, d_loss: 0.03355, loss: 0.14945, upsilon_loss: 0.03716, val_R_loss: 0.03042, val_X_C_loss: 0.04372, val_d_loss: 0.03111, val_loss: 0.14031, val_upsilon_loss: 0.03506, learning_rate: 0.00030
