R_loss: 0.03398, X_C_loss: 0.04616, d_loss: 0.03442, loss: 0.15154, upsilon_loss: 0.03698, val_R_loss: 0.03112, val_X_C_loss: 0.04383, val_d_loss: 0.03151, val_loss: 0.14118, val_upsilon_loss: 0.03472, learning_rate: 0.00030
