R_loss: 0.04148, X_S_loss: 0.04637, d_loss: 0.04602, f_E_loss: 0.02577, f_S_loss: 0.05608, loss: 0.21572, val_R_loss: 0.03881, val_X_S_loss: 0.04424, val_d_loss: 0.04257, val_f_E_loss: 0.02326, val_f_S_loss: 0.05362, val_loss: 0.20250, learning_rate: 0.00030
