Disclosed are techniques for allocating resources for environment sensing. In an aspect, a base station transmits a first radar reference signal (RRS) on a first set of resources comprising first time resources, first frequency resources, first spatial resources, or any combination thereof, wherein the first set of resources is selected to enable a first user equipment (UE) to perform a first type of environment sensing, and transmits a second RRS on a second set of resources comprising second time resources, second frequency resources, second spatial resources, or any combination thereof, wherein the second set of resources is selected to enable a second UE to perform a second type of environment sensing, wherein the second set of resources is different from the first set of resources, and wherein the second type of environment sensing is different from the first type of environment sensing.