For this data, I'd suggest you pivot the data, and pass the mean. Usually, this is faster since you are hitting the entire dataframe, instead of going through each group:
(df
 .pivot(None, ['a_bins', 'b_bins', 'c_bins'], 'value')
 .mean()
 .sort_index() # ignore this if you are not fuzzy on order
)
a_bins         b_bins         c_bins       
(-2.15, -2.1]  (0.25, 0.3]    (-1.3, -1.25]    0.929100
               (0.75, 0.8]    (-0.3, -0.25]    0.480411
(-2.05, -2.0]  (-0.1, -0.05]  (0.3, 0.35]     -1.684900
               (0.75, 0.8]    (-0.25, -0.2]   -1.184411
(-2.0, -1.95]  (-0.6, -0.55]  (-1.2, -1.15]   -0.021176
                                                 ...   
(1.7, 1.75]    (-0.75, -0.7]  (1.05, 1.1]     -0.229518
(1.85, 1.9]    (-0.4, -0.35]  (1.8, 1.85]      0.003017
(1.9, 1.95]    (-1.45, -1.4]  (0.1, 0.15]      0.949361
(2.05, 2.1]    (-0.35, -0.3]  (-0.65, -0.6]    0.763184
(2.25, 2.3]    (-0.95, -0.9]  (0.1, 0.15]      2.539432
This matches the output from the groupby:
(df
 .groupby(['a_bins','b_bins','c_bins'])
 .agg({'value':['mean']})
 .dropna()
 .squeeze()
)
a_bins         b_bins         c_bins       
(-2.15, -2.1]  (0.25, 0.3]    (-1.3, -1.25]    0.929100
               (0.75, 0.8]    (-0.3, -0.25]    0.480411
(-2.05, -2.0]  (-0.1, -0.05]  (0.3, 0.35]     -1.684900
               (0.75, 0.8]    (-0.25, -0.2]   -1.184411
(-2.0, -1.95]  (-0.6, -0.55]  (-1.2, -1.15]   -0.021176
                                                 ...   
(1.7, 1.75]    (-0.75, -0.7]  (1.05, 1.1]     -0.229518
(1.85, 1.9]    (-0.4, -0.35]  (1.8, 1.85]      0.003017
(1.9, 1.95]    (-1.45, -1.4]  (0.1, 0.15]      0.949361
(2.05, 2.1]    (-0.35, -0.3]  (-0.65, -0.6]    0.763184
(2.25, 2.3]    (-0.95, -0.9]  (0.1, 0.15]      2.539432
Name: (value, mean), Length: 100, dtype: float64
The pivot option gives a speed of 3.72ms on my PC, while I had to terminate the groupby option, as it was taking too long (my PC is quite old :))
Again, the reason why this works/is faster is because the mean is hitting the entire dataframe, and not going through groups in the groupby.
As to your other question, you can index it easily:
bin_mean = (df
 .pivot(None, ['a_bins', 'b_bins', 'c_bins'], 'value')
 .mean()
 .sort_index() # ignore this if you are not fuzzy on order
)
bin_mean.loc[(-1.72, 0.32, 1.18)]
 -0.25243603652138985
The main problem though is Pandas for categoricals will return for all rows( which is wasteful, and not efficient); pass observed = True and you should notice a dramatic improvement:
(df.groupby(['a_bins','b_bins','c_bins'], observed=True)
   .agg({'value':['mean']})
)
                                              value
                                               mean
a_bins        b_bins        c_bins                 
(-2.15, -2.1] (0.25, 0.3]   (-1.3, -1.25]  0.929100
              (0.75, 0.8]   (-0.3, -0.25]  0.480411
(-2.05, -2.0] (-0.1, -0.05] (0.3, 0.35]   -1.684900
              (0.75, 0.8]   (-0.25, -0.2] -1.184411
(-2.0, -1.95] (-0.6, -0.55] (-1.2, -1.15] -0.021176
...                                             ...
(1.7, 1.75]   (-0.75, -0.7] (1.05, 1.1]   -0.229518
(1.85, 1.9]   (-0.4, -0.35] (1.8, 1.85]    0.003017
(1.9, 1.95]   (-1.45, -1.4] (0.1, 0.15]    0.949361
(2.05, 2.1]   (-0.35, -0.3] (-0.65, -0.6]  0.763184
(2.25, 2.3]   (-0.95, -0.9] (0.1, 0.15]    2.539432
Speed is about 7.39ms on my PC, about 2 times less than the pivot option, but way faster now, and that's because only categoricals that exist in the dataframe are used/returned.