R_loss: 0.03845, X_C_loss: 0.05749, d_loss: 0.04569, f_E_loss: 0.02954, loss: 0.21560, upsilon_loss: 0.04443, val_R_loss: 0.03485, val_X_C_loss: 0.05411, val_d_loss: 0.04155, val_f_E_loss: 0.02565, val_loss: 0.19771, val_upsilon_loss: 0.04156, learning_rate: 0.00030
