R_loss: 0.03872, X_C_loss: 0.05560, d_loss: 0.04369, f_E_loss: 0.02667, loss: 0.20798, upsilon_loss: 0.04330, val_R_loss: 0.03499, val_X_C_loss: 0.05296, val_d_loss: 0.03937, val_f_E_loss: 0.02354, val_loss: 0.19156, val_upsilon_loss: 0.04070, learning_rate: 0.00030
