R_loss: 0.03354, X_C_loss: 0.04758, d_loss: 0.03438, loss: 0.15617, upsilon_loss: 0.04067, val_R_loss: 0.03091, val_X_C_loss: 0.04481, val_d_loss: 0.03140, val_loss: 0.14387, val_upsilon_loss: 0.03676, learning_rate: 0.00030
