Quantifying the Sampling Frequency Invariance of Time-Series Foundation Models for Sensor Data Applications

Time-Series Foundation Models (TSFMs) are increasingly used in sensor applications, where sampling frequency (SF) varies across sensors, devices, and operating modes (e.g., power saving). Ideally, TSFMs must remain effective during such SF changes, provided the SF retains task-critical bandwidth. In this paper, we stress-test 4 prominent TSFMs: MOMENT, Chronos-2, Moirai-MoE, and TimesFM, to quantify their SF-invariance and investigate whether their behavior tracks the resulting loss of information bandwidth rather than the SF value itself. Our stress-test probes 3 dimensions: (i) the shift in embeddings, (ii) the degradation in forecasting performance, and (iii) the degradation in downstream performance, quantified by three novel metrics: FSI, FDI, and CDI, respectively. To our knowledge, this is the first study to place SF-invariance at the core of TSFM evaluations. Our results characterize: (i) how SF-invariance depends on the margin between signal's native-SF and the bandwidth its task requires, (ii) how much of that invariance the choice of TSFM explains, and (iii) how much of TSFM's performance degradation under a lower SF reflects information loss rather than a limitation of their abilities. These findings reframe SF-invariance as a measurable, signal-aware property of the (signal X TSFM) pair, and guide practitioners on when TSFMs display SF-invariance.