R_loss: 0.03728, X_C_loss: 0.05604, d_loss: 0.04321, f_E_loss: 0.02641, loss: 0.20711, upsilon_loss: 0.04417, val_R_loss: 0.03434, val_X_C_loss: 0.05395, val_d_loss: 0.03957, val_f_E_loss: 0.02348, val_loss: 0.19274, val_upsilon_loss: 0.04140, learning_rate: 0.00030
