R_loss: 0.04170, X_C_loss: 0.06365, X_S_loss: 0.05093, d_loss: 0.04919, f_E_loss: 0.03577, f_S_loss: 0.06874, loss: 0.36303, upsilon_loss: 0.05304, val_R_loss: 0.03844, val_X_C_loss: 0.06007, val_X_S_loss: 0.04716, val_d_loss: 0.04503, val_f_E_loss: 0.03039, val_f_S_loss: 0.06359, val_loss: 0.33448, val_upsilon_loss: 0.04980, learning_rate: 0.00015
