Solutions are provided for auto-labeling sensor data for machine learning (ML). An example includes: determining a platform's own position; recording, from a sensor aboard the platform, sensor data comprising a sensor image; receiving position data for at least one intruder object (e.g., a nearby airborne object); based at least on the position data for the intruder object and the platform's position, determining a relative position and a relative velocity of the intruder object; based at least on the relative position and a relative velocity of the intruder object and a field of view of the sensor, determining an expected position of the intruder object in the sensor image; labeling the sensor image, wherein the labeling comprises annotating the sensor image with a region of interest and an object identification; and training an artificial intelligence (AI) model using the labeled sensor image.