R_loss: 0.03812, X_C_loss: 0.05430, X_S_loss: 0.04965, d_loss: 0.03954, f_S_loss: 0.05627, loss: 0.28490, upsilon_loss: 0.04702, val_R_loss: 0.03519, val_X_C_loss: 0.05011, val_X_S_loss: 0.04702, val_d_loss: 0.03633, val_f_S_loss: 0.05347, val_loss: 0.26401, val_upsilon_loss: 0.04189, learning_rate: 0.00030
