%matplotlib inline
import collections
import matplotlib.pyplot as plt
import numpy as np

X = np.random.randn(10)
Y = np.random.randn(10)
labels = ['a'] * 5 + ['b'] * 5
colors = ['r'] * 5 + ['g'] * 5

fig, ax = plt.subplots()
for x, y, label, color in zip(X, Y, labels, colors):
    ax.scatter(x, y, label=label, c=color)

handles, labels = ax.get_legend_handles_labels()

...in _in_handles(h, l)
   1342                 pass
   1343             try:
-> 1344                 if f_h.get_facecolor() != h.get_facecolor():
   1345                     continue
   1346             except AttributeError:

ValueError: The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()