R_loss: 0.03816, X_S_loss: 0.04487, d_loss: 0.03852, f_S_loss: 0.05198, loss: 0.17353, val_R_loss: 0.03515, val_X_S_loss: 0.04315, val_d_loss: 0.03535, val_f_S_loss: 0.04987, val_loss: 0.16351, learning_rate: 0.00030
