This study proposes an occupant-centric control strategy for residential heating systems, aiming to enhance thermal comfort and reduce energy consumption. A sensor station utilizing a frequency-modulated continuous wave radar sensor was developed to detect occupancy and infer activities within residential spaces. By analyzing field measurement data, schedules for occupancy and activities were established. These schedules were then used to implement a variable control strategy for the hydronic radiant heating system, adjusting its operating characteristics based on the identified activities. The proposed control strategy, which includes resetting the indoor set temperature during unoccupied periods and adjusting it during sleep to account for changes in metabolic rate and clothing insulation, resulted in significant energy savings. Compared to continuous operation, the hydronic radiant heating system’s energy consumption was reduced by approximately 21% on peak load days and up to 34% over three winter months. This study demonstrates the potential of occupant-centric control for achieving substantial energy savings in residential buildings while maintaining occupant thermal comfort.