R_loss: 0.03753, X_S_loss: 0.04524, d_loss: 0.03807, f_S_loss: 0.05194, loss: 0.17278, val_R_loss: 0.03517, val_X_S_loss: 0.04366, val_d_loss: 0.03550, val_f_S_loss: 0.04997, val_loss: 0.16430, learning_rate: 0.00030
