R_loss: 0.03817, X_C_loss: 0.05167, X_S_loss: 0.04984, d_loss: 0.03965, f_S_loss: 0.05928, loss: 0.28556, upsilon_loss: 0.04695, val_R_loss: 0.03525, val_X_C_loss: 0.04891, val_X_S_loss: 0.04742, val_d_loss: 0.03648, val_f_S_loss: 0.05626, val_loss: 0.26692, val_upsilon_loss: 0.04261, learning_rate: 0.00030
