In some implementations, an initiator device establishes a measurement session with each of a plurality of responder devices based at least in part on their capabilities. The initiator device negotiates, with each of the responder devices, a respective set of one or more sensing parameters based at least in part on the capabilities of the initiator device and the capabilities of the respective responder device, the respective sets of sensing parameters associated with the responder devices being identified by a unique Measurement Setup identifier (ID). The initiator device performs one or more measurement instances with the responder devices based on the respective sets of sensing parameters, each measurement instance identified by a unique Measurement Instance ID and the respective Measurement Setup ID. The initiator device obtains, from each responder device, one or more measurement reports indicating channel state information (CSI) based on the one or more respective measurement instances.