I. Introduction
Brain-computer interfaces (BCIs) enable direct communication between the human brain and computers by decoding neural activity [1], highlighted as one of the seven technologies to watch in 2024 [2]. As a new type of human-machine interaction (HMI) technology, BCI has received increasing attention. It has been employed in the military, medical field, and smart HMI [3], [4], [5]. Motor imagery-based BCI (MI-BCI), a widely used BCI [6], requires the subject to imagine motor movements to produce desynchronization/synchronization (ERD/ERS) characteristics in the brain [7], [8] that are used to “decode” the subject’s motor intentions. The MI-BCIs have great prospects in medical rehabilitation and peripheral control [9], [10], while complex MI EEG features pose challenges to EEG decoding. With the rapid development of computer science, various machine learning models, especially deep learning (DL) models, have been progressively applied to MI EEG decoding, such as convolutional neural network (CNN), long short-term memory (LSTM) network, and hybrid CNNs [11], [12], [13]. Lawhern et al. [14] proposed a compact CNN, EEGNet, for EEG decoding. Li et al. [15] proposed a neural network feature fusion algorithm combining CNN and LSTM.