text: import matplotlib.pyplot as plt
  from matplotlib.pyplot import MultipleLocator
  font_titles = {'family': 'Times New Roman',
          'color':  'black',
          'weight': 'normal',
          'size': 8,}
  font_labels = {'family': 'Times New Roman',
          'color':  'black',
          'weight': 'normal',
          'size': 8,}
  
  
  import numpy as np
  time_scale = np.arange(0.01,0.51,0.01)
  xticks=[0,10,20,30,40,50]
  lable=[0,0.1,0.2,0.3,0.4,0.5]
  ytricks=[0,0.25,0.5,0.75,0.1]
  mae_hybrid_model_close_training=np.load('mae_error_hybrid_model.npy')
  mae_seq2seq_model_close_training=np.load('mae_error_seq2seq_model.npy')
  uy_mae_hybrid_model_close_training=mae_hybrid_model_close_training[:,:,0:1].reshape(-1,50)
  uy_mae_seq2seq_model_close_training=mae_seq2seq_model_close_training[:,:,0:1].reshape(-1,50)
  r_mae_hybrid_model_close_training=mae_hybrid_model_close_training[:,:,1:2].reshape(-1,50)
  r_mae_seq2seq_model_close_training=mae_seq2seq_model_close_training[:,:,1:2].reshape(-1,50)
  
  plt.figure(dpi=120,figsize=(12,3.3))
  plt.subplot(121)
  plt.xlabel('Predicted Horizens (s)',fontdict=font_labels)
  plt.ylabel('$||e_{r,k}||$ (rad/s)',fontdict=font_labels)
  plt.grid(True,alpha=0.4)
  plt.title('Distribution of $||e_{r,k}||$,Hybrid model',font_titles)
  plt.boxplot(r_mae_hybrid_model_close_training[:,0:50],showfliers=False,boxprops = {'color':'blue',},whiskerprops={'linestyle':'--','dashes':(5,3)})
  y_major_locator=MultipleLocator(0.005)
  ax=plt.gca()
  ax.yaxis.set_major_locator(y_major_locator)
  plt.xticks(xticks,labels=lable)
  ax=plt.gca()
  ax.yaxis.set_major_locator(y_major_locator)
  plt.tick_params(labelsize=8)
  plt.ylim(0,0.015)
  
  
  plt.subplot(122)
  plt.xlabel('Predicted Horizens (s)',fontdict=font_labels)
  plt.ylabel('$||e_{r,k}||$ (rad/s)',fontdict=font_labels)
  plt.grid(True,alpha=0.4)
  plt.title('Distribution of $||e_{r,k}||$,GRU Encoder-Decoder',font_titles)
  plt.boxplot(r_mae_seq2seq_model_close_training[:,0:50],showfliers=False,boxprops = {'color':'blue',},whiskerprops={'linestyle':'--','dashes':(5,3)})
  plt.xticks(xticks,labels=lable)
  y_major_locator=MultipleLocator(0.005)
  ax=plt.gca()
  ax.yaxis.set_major_locator(y_major_locator)
  plt.tick_params(labelsize=8)
  plt.ylim(0,0.015)
  
  plt.savefig('箱线图r.png',dpi=600)
  plt.show()
  
  