This is rather brute-force (exponential in the length of the pattern), but at least it's (somewhat) succinct.

sub expand_binary_patterns
{
    map
    {
        my $l = length($_);
        my $q = $_;
        $q =~ y/-/./;
        grep { sprintf('%0'.$l.'b',$_) =~ /$q/ } 0 .. (2**$l)-1;
    }
    @_
}

my @data = qw( 000- 0101 011- 1-0- );
@data = expand_binary_patterns( @data );
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Update: blokhead++ :-)