Drawing insights from Large Language Models, researchers have developed several Large Electroencephalogram (EEG) models (LEMs) to learn a generalized representation adaptable to various tasks. However, such LEMs are scarce and neglecting the potential in data restoration tasks. Meanwhile, how to efficiently integrate temporal view and spectral view of EEG data has always been a focal point. In this paper, we propose Gram, a large general EEG model for raw EEG data classification and restoration tasks. Gram consists of two stages. 1) The initial stage quantizes raw EEG patches into base classes rich in temporal information. 2) The second stage features a multi-view layer-fusion masked autoencoder that exploits EEG's complex Temporal and Spectral views through dual training objectives: a spectral mimic target after layer-fusion encoder for visible patches and a base-class classification target after decoder for masked patches. Pretrained on 7000 hours of EEG data, Gram achieves state-of-the-art performance on four cross-subject classification tasks including motor imagery as well as event, emotion, and sleep stage classification. For EEG data restoration, our model significantly improves classification performance by repairing corrupted data in comparison to using noisy data.

Multi-robot systems have increasingly become instrumental in tackling coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured scenarios with dense obstacles. This paper presents an innovative, decentralized Voronoi-based coverage control approach to reactively navigate these complexities while guaranteeing safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information System), offering a more comprehensive and real-time understanding of environments like post-disaster. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in task success rate, coverage ratio, and task execution time compared with others.