I am Malaysian, and I have a 1-year-old child and a Filipino maid travelling with me.

Do you mean 144-hour visa on arrival? I'm sorry but your nationalities are not eligible for this.

Hello, please, could you provide us a details of your itinerary. This is the only way that will allow us to offer you an appropriate answer. Just for the beginning, Malaysian and Filipino citizens are eligible for 24 hour visa free transit, so if your entire journey through China is shorter than 24 hours you could be eligible for a travel without a visa, but your itinerary is definitely indispensable to offer you a really relevant answer.