Infants I check when they are fussy.
Toddlers I check if I smell it and change them every two hours generally after meals.
Potty trainers I put on the toilet for every diaper change and whenever they ask (by sign language or voice). Eventually they train into the every two hours after meals.
I check sleeping infants and other sleeping kids every 10 minutes. I don't have any closed doors that will accidentally wake them and that helps. They just get used to the music playing and don't hear me checking on them at all.

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