R_loss: 0.03768, X_C_loss: 0.05228, X_S_loss: 0.04879, d_loss: 0.03960, f_S_loss: 0.05842, loss: 0.28033, upsilon_loss: 0.04356, val_R_loss: 0.03489, val_X_C_loss: 0.04843, val_X_S_loss: 0.04561, val_d_loss: 0.03630, val_f_S_loss: 0.05447, val_loss: 0.26031, val_upsilon_loss: 0.04061, learning_rate: 0.00030
