R_loss: 0.03694, X_S_loss: 0.04462, d_loss: 0.03753, f_S_loss: 0.05033, loss: 0.16941, val_R_loss: 0.03450, val_X_S_loss: 0.04323, val_d_loss: 0.03506, val_f_S_loss: 0.04826, val_loss: 0.16106, learning_rate: 0.00030
