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Police Chief Edward Flynn said the baby's injured mother and her boyfriend were rushed to a hospital after the Friday morning attack.
Flynn said the suspect was arrested at the house and that he also sustained superficial knife wounds.
He said the suspect stabbed his daughter in her crib, then attacked her 19-year-old mother, the mother's 22-year-old boyfriend and a 39-year-old man who was staying at the house. The baby and the older man died.
Flynn said police are not seeking any other suspects.
Milwaukee Mayor Tom Barrett denounced the violence at a news conference.
He said 13 people have died of homicidal violence in Milwaukee this month.
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