R_loss: 0.03289, X_C_loss: 0.04564, d_loss: 0.03362, loss: 0.14883, upsilon_loss: 0.03668, val_R_loss: 0.03078, val_X_C_loss: 0.04338, val_d_loss: 0.03132, val_loss: 0.14015, val_upsilon_loss: 0.03467, learning_rate: 0.00030
