## Legend: Algorithm Performance Comparison ### Overview The image is a legend that identifies the different algorithms used in a performance comparison chart. Each algorithm is represented by a unique color. ### Components/Axes The legend is composed of the following elements: - **Algorithm Names**: Rainbow, PPO, PPO-Lagrangian, KCAC, RC-PPO, PLPG, NSAM(ours) - **Colors**: Teal, Green, Orange, Yellow, Cyan, Magenta, Red ### Detailed Analysis or ### Content Details The legend maps each algorithm to a specific color: - Rainbow: Teal - PPO: Green - PPO-Lagrangian: Orange - KCAC: Yellow - RC-PPO: Cyan - PLPG: Magenta - NSAM(ours): Red ### Key Observations The legend provides a clear mapping between algorithm names and their corresponding colors, which is essential for interpreting the performance comparison chart. ### Interpretation The legend is a key component for understanding the performance comparison chart. It allows the viewer to quickly identify which algorithm each data point or line represents. The inclusion of "NSAM(ours)" suggests that this algorithm is the focus of the study.