A system for updating training data includes an interface and a processor. The interface is configured to receive a set of vehicle data. The set of vehicle data includes images and assigned labels associated with the images. The processor is configured to determine a set of training data and a set of test data from the set of vehicle data; train a model with the set of training data; determine a set of predicted labels for the set of vehicle data using the model; identify a set of potential mislabeled data using the set of predicted labels and the assigned labels; and determine an updated set of training data by relabeling the set of potential mislabeled data and replacing the set of potential mislabeled data with a relabeled set of data.