Abstract: A system receives identification of data to be gathered, via a request configured based on a configuration file associated with a machine learning model stored by a vehicle. The system receives identification of how the data is to be labeled, defined by the configuration file and create one or more topics for publication of the data, onboard the vehicle, the publication including both the gathered data and any meta-data usable to label the data in accordance with the definitions in the configuration file. Also, the system subscribes to the topics to receive the published data and the metadata and appends labels to the data, using the metadata, to label the data in accordance with the definitions for labeling in the configuration file. The system saves the labeled data in vehicle memory as data associated with the model.