R_loss: 0.04330, X_S_loss: 0.04671, d_loss: 0.04745, f_E_loss: 0.02801, f_S_loss: 0.05843, loss: 0.22390, val_R_loss: 0.03961, val_X_S_loss: 0.04428, val_d_loss: 0.04336, val_f_E_loss: 0.02437, val_f_S_loss: 0.05493, val_loss: 0.20655, learning_rate: 0.00030
