Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing miscalibration detection. One of the methods includes receiving sensor data from each of multiple sensors of a device in a system configured to provide augmented reality or mixed reality output to a user. Feature values are determined based on the sensor data for a predetermined set of features. The determined feature values are processed using a miscalibration detection model that has been trained, based on examples of captured sensor data from one or more devices, to predict whether a miscalibration condition of one or more of the multiple sensors has occurred. Based on the output of the miscalibration detection model, the system determines whether to initiate recalibration of extrinsic parameters for at least one of the multiple sensors or to bypass recalibration.