R_loss: 0.04316, X_S_loss: 0.04833, d_loss: 0.04899, f_E_loss: 0.02795, f_S_loss: 0.05970, loss: 0.22813, val_R_loss: 0.03950, val_X_S_loss: 0.04520, val_d_loss: 0.04479, val_f_E_loss: 0.02482, val_f_S_loss: 0.05550, val_loss: 0.20982, learning_rate: 0.00015
