R_loss: 0.04153, X_C_loss: 0.06018, X_S_loss: 0.06192, d_loss: 0.04818, f_E_loss: 0.03603, f_S_loss: 0.08746, loss: 0.38864, upsilon_loss: 0.05333, val_R_loss: 0.03832, val_X_C_loss: 0.05747, val_X_S_loss: 0.05969, val_d_loss: 0.04411, val_f_E_loss: 0.03085, val_f_S_loss: 0.08599, val_loss: 0.36663, val_upsilon_loss: 0.05020, learning_rate: 0.00030
