R_loss: 0.04219, X_S_loss: 0.04520, d_loss: 0.04727, f_E_loss: 0.02705, f_S_loss: 0.05663, loss: 0.21834, val_R_loss: 0.03912, val_X_S_loss: 0.04278, val_d_loss: 0.04354, val_f_E_loss: 0.02428, val_f_S_loss: 0.05315, val_loss: 0.20287, learning_rate: 0.00030
