%%%2D stuff
\begin{figure}
    \centering
    % GM
    \captionsetup[subfloat]{labelfont={scriptsize, bf},textfont={scriptsize, bf},format=plain,justification=centering,singlelinecheck}
    \begin{sideways} {\hspace{1mm} \tiny \textbf{Gaussian Mixture}} \end{sideways}\hspace{-1mm}
    \subfloat{
        \adjustbox{trim=3.5pt 3.5pt 3.5pt 3.5pt, clip}{\includegraphics[width=48pt]{imgs/gmm/gt_samples}}
    }
    \subfloat{
        \adjustbox{trim=3.5pt 3.5pt 3.5pt 3.5pt, clip}{\includegraphics[width=48pt]{imgs/gmm/GMMOG_SVGDsamples_new}}
    }
    \subfloat{
        \adjustbox{trim=3.5pt 3.5pt 3.5pt 3.5pt, clip}{\includegraphics[width=48pt]{imgs/gmm/GMMBB_SVGD_ESsamples_new}}
    }
    \subfloat{
        \adjustbox{trim=3.5pt 3.5pt 3.5pt 3.5pt, clip}{\includegraphics[width=48pt]{imgs/gmm/GMMGF_SVGDsamples_new}}
    }
    \subfloat{
        \adjustbox{trim=3.5pt 3.5pt 3.5pt 3.5pt, clip}{\includegraphics[width=48pt]{imgs/gmm/GMMMC_SVGDsamples_new}}
    }\\[-2mm]
    % Banana
    \begin{sideways}{\hspace{1.5mm} \tiny \textbf{Double banana}}\end{sideways}\hspace{-1mm}
    \subfloat{
        \includegraphics[width=41pt]{imgs/banana/gt_samples2d_new}
    }
    \subfloat{
        \includegraphics[width=41pt]{imgs/banana/OG_SVGDbananasamples_new}
    }
    \subfloat{
        \includegraphics[width=41pt]{imgs/banana/BB_SVGD_ESbananasamples_new}
    }
    \subfloat{
        \includegraphics[width=41pt]{imgs/banana/GF_SVGDbananasamples_new}
    }
    \subfloat{
        \includegraphics[width=41pt]{imgs/banana/MC_SVGDbananasamples_new}
    }\\[-2mm]
    \setcounter{subfigure}{0}
    % Ramos
    \begin{sideways}{\tiny \textbf{Motion planning} }\end{sideways}\hspace{-1mm}
    \subfloat[Ground truth]{
        \includegraphics[width=41pt]{imgs/ramos/gt_samples2d_ramos_new}
    }
    \subfloat[$\N$-SVGD]{
        \includegraphics[width=41pt]{imgs/ramos/F_RAMOSOG_SVGDsamples_new}
    }
    \subfloat[SV-CMA-ES (ours)]{
        \includegraphics[width=41pt]{imgs/ramos/F_RAMOSBB_SVGD_ESsamples_new}
    }
    \subfloat[GF-SVGD]{
        \includegraphics[width=41pt]{imgs/ramos/F_RAMOSGF_SVGDsamples_new}
    }
    \subfloat[SV- OpenAI-ES]{
        \includegraphics[width=41pt]{imgs/ramos/F_RAMOSMC_SVGDsamples_new}
    }
    \caption{Samples obtained by various methods.
    Gradient-based SVGD (b) captures all target densities effectively, while SV-CMA-ES produces the highest quality samples among gradient-free methods. 
    GF-SVGD struggles on more complex targets, and SV-OpenAI-ES tends to converge slowly due to taking small steps in flat regions of the target.
    }
    \label{fig:samples}
\end{figure}

