R_loss: 0.03703, X_C_loss: 0.05714, d_loss: 0.04328, f_E_loss: 0.02654, loss: 0.20789, upsilon_loss: 0.04390, val_R_loss: 0.03419, val_X_C_loss: 0.05412, val_d_loss: 0.03956, val_f_E_loss: 0.02360, val_loss: 0.19283, val_upsilon_loss: 0.04136, learning_rate: 0.00030
