Recognizing activities of daily living (ADLs) plays an essential role in analyzing human health and behavior. The widespread availability of sensors implanted in homes, smartphones, and smart watches have engendered collection of big datasets that reflect human behavior. To obtain a machine learning model based on these data,researchers have developed multiple feature extraction methods. In this study, we investigate a method for automatically extracting universal and meaningful features that are applicable across similar time series-based learning tasks such as activity recognition and fall detection. We propose creating a sequence-to-sequence (seq2seq) model to perform this feature learning. Beside avoiding feature engineering, the meaningful features learned by the seq2seq model can also be utilized for semi-supervised learning. We evaluate both of these benefits on datasets collected from wearable and ambient sensors.