Thomas Yemm, 62, and Wendy Canfield, 51, were each charged with risk of injury to a minor, police said.
The child was taken in by a neighbor until police arrived.
According to neighbors interviewed by officers, this is not the first time the child has wandered off, police said.
The child was placed in the care of the Department of Children and Families.
Yemm and Canfield are scheduled to appear in court on Oct. 18.
No other details were available Wednesday.
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