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Human context recognition (HCR) using sensor data is a crucial task in Context-Aware (CA) applications in domains such as healthcare and security. Supervised machine learning HCR models are trained using smartphone HCR datasets that are scripted or gathered in-the-wild. Scripted datasets are most accurate because of their consistent visit patterns. Supervised machine learning HCR models perform well on scripted datasets but poorly on realistic data. In-the-wild datasets are more realistic, but cause HCR models to perform worse due to data imbalance, missing or incorrect labels, and a wide variety of phone placements and device types. Lab-to-field approaches learn a robust data representation from a scripted, high-fidelity dataset, which is then used for enhancing performance on a noisy, in-the-wild dataset with similar labels. This research introduces Triplet-based Domain Adaptation for Context REcognition (Triple-DARE), a lab-to-field neural network method that combines three unique loss functions to enhance intra-class compactness and inter-class separation within the embedding space of multi-labeled datasets: (1) domain alignment loss in order to learn domain-invariant embeddings; (2) classification loss to preserve task-discriminative features; and (3) joint fusion triplet loss. Rigorous evaluations showed that Triple-DARE achieved 6.3% and 4.5% higher F1-score and classification, respectively, than state-of-the-art HCR baselines and outperformed non-adaptive HCR models by 44.6% and 10.7%, respectively.