R_loss: 0.04264, X_C_loss: 0.07372, X_S_loss: 0.05002, d_loss: 0.04906, f_E_loss: 0.03272, f_S_loss: 0.06309, loss: 0.37351, upsilon_loss: 0.06226, val_R_loss: 0.03880, val_X_C_loss: 0.07314, val_X_S_loss: 0.04701, val_d_loss: 0.04466, val_f_E_loss: 0.02886, val_f_S_loss: 0.05943, val_loss: 0.35230, val_upsilon_loss: 0.06040, learning_rate: 0.00030
