R_loss: 0.03915, X_C_loss: 0.05155, X_S_loss: 0.04980, d_loss: 0.04051, f_S_loss: 0.06057, loss: 0.28553, upsilon_loss: 0.04395, val_R_loss: 0.03566, val_X_C_loss: 0.04814, val_X_S_loss: 0.04708, val_d_loss: 0.03658, val_f_S_loss: 0.05611, val_loss: 0.26450, val_upsilon_loss: 0.04092, learning_rate: 0.00030
