R_loss: 0.03276, X_C_loss: 0.04590, d_loss: 0.03376, loss: 0.14910, upsilon_loss: 0.03667, val_R_loss: 0.03045, val_X_C_loss: 0.04376, val_d_loss: 0.03120, val_loss: 0.14004, val_upsilon_loss: 0.03464, learning_rate: 0.00030
