Disclosed are techniques for training a position estimation module. In an aspect, a first network entity obtains a plurality of positioning measurements, obtains a plurality of positions of one or more user equipments (UEs), the plurality of positions determined based on the plurality of positioning measurements, stores the plurality of positioning measurements as a plurality of features and the plurality of positions as a plurality of labels corresponding to the plurality of features, and trains the position estimation module with the plurality of features and the plurality of labels to determine a position of a UE from positioning measurements taken by the UE.