R_loss: 0.03730, X_S_loss: 0.04657, d_loss: 0.03801, f_S_loss: 0.05297, loss: 0.17485, val_R_loss: 0.03479, val_X_S_loss: 0.04423, val_d_loss: 0.03533, val_f_S_loss: 0.05083, val_loss: 0.16519, learning_rate: 0.00030
