Wearable accelerometers are widely used for continuous monitoring of physical activity. Supervised machine learning and deep learning algorithms have long been used to extract meaningful activity information from raw accelerometry data, but progress has been hampered by the limited amount of publicly available labeled data. Exploiting large unlabeled datasets using self-supervised pretraining is a relatively new and underexplored approach in the field of human activity recognition (HAR). We used a time-series transformer masked autoencoder (MAE) approach to self-supervised pretraining and propose a novel spectrogram-based loss function named the log-scale mean magnitude (LMM) loss. We compared MAE models pretrained with LMM to one trained with the mean squared error (MSE) loss. We leveraged the large unlabeled UK Biobank accelerometry dataset (n = 109k) for pretraining and evaluated downstream HAR performance using linear classifier in a smaller labelled dataset. We found that pretraining with the LMM loss improved performance compared to a model pretrained with the MSE loss, with balanced accuracies of 0.848 and 0.709, respectively. Further analysis revealed that better convergence of the LMM loss, but not the MSE loss significantly correlated with improved downstream performance (r=-0.61, p=0.04) for balanced accuracy). Finally, we compared our MAE models to the state-of-the-art for HAR, also pretrained on the UK Biobank accelerometry data. Our LMM-pretrained models performed better when finetuned using a linear classifier and performed comparably when finetuned using an LSTM classifier, while MSE-pretrained models consistently underperformed. Our findings demonstrate that the LMM loss is a robust and effective method for pretraining MAE models on accelerometer data for HAR. Future work should explore optimizing loss function combinations and extending our approach to other tasks.
View on arXiv@article{lorenzen2025_2502.17477,
title={ Frequency-Aware Masked Autoencoders for Human Activity Recognition using Accelerometers },
author={ Niels R. Lorenzen and Poul J. Jennum and Emmanuel Mignot and Andreas Brink-Kjaer },
journal={arXiv preprint arXiv:2502.17477},
year={ 2025 }
}