R_loss: 0.04199, X_C_loss: 0.05987, X_S_loss: 0.06633, d_loss: 0.04969, f_E_loss: 0.03199, f_S_loss: 0.09349, loss: 0.39606, upsilon_loss: 0.05269, val_R_loss: 0.03864, val_X_C_loss: 0.05730, val_X_S_loss: 0.06224, val_d_loss: 0.04520, val_f_E_loss: 0.02880, val_f_S_loss: 0.09137, val_loss: 0.37295, val_upsilon_loss: 0.04941, learning_rate: 0.00030
