R_loss: 0.03836, X_C_loss: 0.04941, X_S_loss: 0.04874, d_loss: 0.04024, f_S_loss: 0.05564, loss: 0.27392, upsilon_loss: 0.04153, val_R_loss: 0.03507, val_X_C_loss: 0.04625, val_X_S_loss: 0.04585, val_d_loss: 0.03649, val_f_S_loss: 0.05288, val_loss: 0.25506, val_upsilon_loss: 0.03853, learning_rate: 0.00030
