R_loss: 0.03731, X_S_loss: 0.04556, d_loss: 0.03802, f_S_loss: 0.05264, loss: 0.17352, val_R_loss: 0.03467, val_X_S_loss: 0.04382, val_d_loss: 0.03527, val_f_S_loss: 0.05034, val_loss: 0.16409, learning_rate: 0.00030
