R_loss: 0.04185, X_S_loss: 0.04535, d_loss: 0.04595, f_E_loss: 0.02727, f_S_loss: 0.05616, loss: 0.21658, val_R_loss: 0.03889, val_X_S_loss: 0.04321, val_d_loss: 0.04218, val_f_E_loss: 0.02408, val_f_S_loss: 0.05328, val_loss: 0.20164, learning_rate: 0.00030
