Robotics paper index
BeatGraph: Self-Supervised Heartbeat Graphs for Infant ECG Representations from the Home Environment
One-line summary
A robotics research paper on BeatGraph: Self-Supervised Heartbeat Graphs for Infant ECG Representations from the Home Environment.
Engineering notes
Engineering notes will be added by the Robot Papers editorial team.
Chinese explanation / 中文解读
中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
Electrocardiogram (ECG) foundation models typically tokenize the signal into fixed-length patches that ignore cardiac structure, so a patch may split a heartbeat and the number of beats in each patch shifts with heart rate. This matters most for infants, whose heart rates are higher and whose ECG differs from the adult, clinic-recorded 12-lead data these models are built on. A model for infant ECG should therefore reason about heartbeats directly rather than recover them from arbitrary patches. We propose BeatGraph, which makes the heartbeat its unit of representation, modeling each 30-second window as a graph of beats. A shared beat encoder embeds each heartbeat from its waveform and inter-beat intervals, a Transformer with positional encoding orders the beats in time, and residual graph attention layers relate every beat to every other before attention pooling yields a window embedding. We pretrain BeatGraph on our new corpus of unlabeled infant recordings by predicting masked-beat embeddings, then fine-tune it for each task. One backbone supports sleep-wake detection, infant-state classification, activity-source identification (infant- or caregiver-initiated movement), and affect recognition, improving macro-F1 over the strongest baseline on each task by 0.076 to 0.158. It also transfers across age groups, reaching 0.892 AUROC on the ZZU-pECG pediatric benchmark (ages 0 to 14), within 0.001 of the best published self-supervised ECG model, and matching that model under linear evaluation on the adult PTB-XL benchmark despite infant-only pretraining. Finally, to our knowledge, we release the first public infant ECG corpus collected in homes, classrooms, and laboratory settings with state and affect labels. It contains 3,408 hours of single-channel ECG from 143 infants aged 3 to 11 months, with unlabeled pretraining data, benchmark tasks, and subject-level splits.
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