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You can use the proper typesetting unicode minus (see
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http://en.wikipedia.org/wiki/Plus_sign#Plus_sign) or the ASCII hypen
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for minus, which some people prefer. The matplotlibrc param
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axes.unicode_minus controls the default behavior.
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The default is to use the unicode minus
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import matplotlib.pyplot as plt
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matplotlib.rcParams['axes.unicode_minus'] = False
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ax = fig.add_subplot(111)
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ax.plot(10*np.random.randn(100), 10*np.random.randn(100), 'o')
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ax.set_title('Using hypen instead of unicode minus')