diff --git a/media/libheadtracking/Android.bp b/media/libheadtracking/Android.bp
index 9636949..9955862 100644
--- a/media/libheadtracking/Android.bp
+++ b/media/libheadtracking/Android.bp
@@ -16,6 +16,7 @@
       "Pose.cpp",
       "PoseBias.cpp",
       "PoseDriftCompensator.cpp",
+      "PosePredictor.cpp",
       "PoseRateLimiter.cpp",
       "QuaternionUtil.cpp",
       "ScreenHeadFusion.cpp",
@@ -39,6 +40,12 @@
     cflags: [
         "-Wthread-safety",
     ],
+    product_variables: {
+        debuggable: {
+            // enable experiments only in userdebug and eng builds
+            cflags: ["-DENABLE_VERIFICATION"],
+        },
+    },
 }
 
 cc_library {
@@ -80,6 +87,7 @@
         "Pose-test.cpp",
         "PoseBias-test.cpp",
         "PoseDriftCompensator-test.cpp",
+        "PosePredictor.cpp",
         "PoseRateLimiter-test.cpp",
         "QuaternionUtil-test.cpp",
         "ScreenHeadFusion-test.cpp",
diff --git a/media/libheadtracking/HeadTrackingProcessor-test.cpp b/media/libheadtracking/HeadTrackingProcessor-test.cpp
index b9dd0b8..5190f52 100644
--- a/media/libheadtracking/HeadTrackingProcessor-test.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor-test.cpp
@@ -82,6 +82,8 @@
     std::unique_ptr<HeadTrackingProcessor> processor = createHeadTrackingProcessor(
             Options{.predictionDuration = 2.f}, HeadTrackingMode::WORLD_RELATIVE);
 
+    processor->setPosePredictorType(PosePredictorType::TWIST);
+
     // Establish a baseline for the drift compensators.
     processor->setWorldToHeadPose(0, Pose3f(), Twist3f());
     processor->setWorldToScreenPose(0, Pose3f());
diff --git a/media/libheadtracking/HeadTrackingProcessor.cpp b/media/libheadtracking/HeadTrackingProcessor.cpp
index b70b6dc..8502af0 100644
--- a/media/libheadtracking/HeadTrackingProcessor.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor.cpp
@@ -22,6 +22,7 @@
 
 #include "ModeSelector.h"
 #include "PoseBias.h"
+#include "PosePredictor.h"
 #include "ScreenHeadFusion.h"
 #include "StillnessDetector.h"
 
@@ -59,8 +60,8 @@
 
     void setWorldToHeadPose(int64_t timestamp, const Pose3f& worldToHead,
                             const Twist3f& headTwist) override {
-        Pose3f predictedWorldToHead =
-                worldToHead * integrate(headTwist, mOptions.predictionDuration);
+        const Pose3f predictedWorldToHead = mPosePredictor.predict(
+                timestamp, worldToHead, headTwist, mOptions.predictionDuration);
         mHeadPoseBias.setInput(predictedWorldToHead);
         mHeadStillnessDetector.setInput(timestamp, predictedWorldToHead);
         mWorldToHeadTimestamp = timestamp;
@@ -161,6 +162,10 @@
         }
     }
 
+    void setPosePredictorType(PosePredictorType type) override {
+        mPosePredictor.setPosePredictorType(type);
+    }
+
     std::string toString_l(unsigned level) const override {
         std::string prefixSpace(level, ' ');
         std::string ss = prefixSpace + "HeadTrackingProcessor:\n";
@@ -186,6 +191,7 @@
                       prefixSpace.c_str(), mOptions.screenStillnessRotationalThreshold);
         ss += mModeSelector.toString(level + 1);
         ss += mRateLimiter.toString(level + 1);
+        ss += mPosePredictor.toString(level + 1);
         ss.append(prefixSpace + "ReCenterHistory:\n");
         ss += mLocalLog.dumpToString((prefixSpace + " ").c_str(), mMaxLocalLogLine);
         return ss;
@@ -207,6 +213,7 @@
     ScreenHeadFusion mScreenHeadFusion;
     ModeSelector mModeSelector;
     PoseRateLimiter mRateLimiter;
+    PosePredictor mPosePredictor;
     static constexpr std::size_t mMaxLocalLogLine = 10;
     SimpleLog mLocalLog{mMaxLocalLogLine};
 };
@@ -230,5 +237,26 @@
     return "EnumNotImplemented";
 };
 
+std::string toString(PosePredictorType posePredictorType) {
+    switch (posePredictorType) {
+        case PosePredictorType::AUTO: return "AUTO";
+        case PosePredictorType::LAST: return "LAST";
+        case PosePredictorType::TWIST: return "TWIST";
+        case PosePredictorType::LEAST_SQUARES: return "LEAST_SQUARES";
+    }
+    return "UNKNOWN" + std::to_string((int)posePredictorType);
+}
+
+bool isValidPosePredictorType(PosePredictorType posePredictorType) {
+    switch (posePredictorType) {
+        case PosePredictorType::AUTO:
+        case PosePredictorType::LAST:
+        case PosePredictorType::TWIST:
+        case PosePredictorType::LEAST_SQUARES:
+            return true;
+    }
+    return false;
+}
+
 }  // namespace media
 }  // namespace android
diff --git a/media/libheadtracking/ModeSelector.cpp b/media/libheadtracking/ModeSelector.cpp
index 6277090..7ee21b3 100644
--- a/media/libheadtracking/ModeSelector.cpp
+++ b/media/libheadtracking/ModeSelector.cpp
@@ -117,10 +117,12 @@
 std::string ModeSelector::toString(unsigned level) const {
     std::string prefixSpace(level, ' ');
     std::string ss(prefixSpace);
-    StringAppendF(&ss, "ModeSelector: ScreenToStage %s\n",
-                    mScreenToStage.toString().c_str());
-    ss.append(prefixSpace + "Mode downgrade history:\n");
-    ss += mLocalLog.dumpToString((prefixSpace + " ").c_str(), sMaxLocalLogLine);
+    ss.append("ModeSelector: ScreenToStage ")
+        .append(mScreenToStage.toString())
+        .append("\n")
+        .append(prefixSpace)
+        .append("Mode change history:\n")
+        .append(mLocalLog.dumpToString((prefixSpace + " ").c_str(), sMaxLocalLogLine));
     return ss;
 }
 
diff --git a/media/libheadtracking/PosePredictor.cpp b/media/libheadtracking/PosePredictor.cpp
new file mode 100644
index 0000000..f67a966
--- /dev/null
+++ b/media/libheadtracking/PosePredictor.cpp
@@ -0,0 +1,238 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "PosePredictor.h"
+
+namespace android::media {
+
+namespace {
+#ifdef ENABLE_VERIFICATION
+constexpr bool kEnableVerification = true;
+constexpr std::array<int, 3> kLookAheadMs{ 50, 100, 200 };
+#else
+constexpr bool kEnableVerification = false;
+constexpr std::array<int, 0> kLookAheadMs{};
+#endif
+
+} // namespace
+
+void LeastSquaresPredictor::add(int64_t atNs, const Pose3f& pose, const Twist3f& twist)
+{
+    (void)twist;
+    mLastAtNs = atNs;
+    mLastPose = pose;
+    const auto q = pose.rotation();
+    const double datNs = static_cast<double>(atNs);
+    mRw.add({datNs, q.w()});
+    mRx.add({datNs, q.x()});
+    mRy.add({datNs, q.y()});
+    mRz.add({datNs, q.z()});
+}
+
+Pose3f LeastSquaresPredictor::predict(int64_t atNs) const
+{
+    if (mRw.getN() < kMinimumSamplesForPrediction) return mLastPose;
+
+    /*
+     * Using parametric form, we have q(t) = { w(t), x(t), y(t), z(t) }.
+     * We compute the least squares prediction of w, x, y, z.
+     */
+    const double dLookahead = static_cast<double>(atNs);
+    Eigen::Quaternionf lsq(
+        mRw.getYFromX(dLookahead),
+        mRx.getYFromX(dLookahead),
+        mRy.getYFromX(dLookahead),
+        mRz.getYFromX(dLookahead));
+
+     /*
+      * We cheat here, since the result lsq is the least squares prediction
+      * in H (arbitrary quaternion), not the least squares prediction in
+      * SO(3) (unit quaternion).
+      *
+      * In other words, the result for lsq is most likely not a unit quaternion.
+      * To solve this, we normalize, thereby selecting the closest unit quaternion
+      * in SO(3) to the prediction in H.
+      */
+    lsq.normalize();
+    return Pose3f(lsq);
+}
+
+void LeastSquaresPredictor::reset() {
+    mLastAtNs = {};
+    mLastPose = {};
+    mRw.reset();
+    mRx.reset();
+    mRy.reset();
+    mRz.reset();
+}
+
+std::string LeastSquaresPredictor::toString(size_t index) const {
+    std::string s(index, ' ');
+    s.append("LeastSquaresPredictor using alpha: ")
+        .append(std::to_string(mAlpha))
+        .append(" last pose: ")
+        .append(mLastPose.toString())
+        .append("\n");
+    return s;
+}
+
+// Formatting
+static inline std::vector<size_t> createDelimiterIdx(size_t predictors, size_t lookaheads) {
+    if (predictors == 0) return {};
+    --predictors;
+    std::vector<size_t> delimiterIdx(predictors);
+    for (size_t i = 0; i < predictors; ++i) {
+        delimiterIdx[i] = (i + 1) * lookaheads;
+    }
+    return delimiterIdx;
+}
+
+PosePredictor::PosePredictor()
+    : mPredictors{  // must match switch in getCurrentPredictor()
+            std::make_shared<LastPredictor>(),
+            std::make_shared<TwistPredictor>(),
+            std::make_shared<LeastSquaresPredictor>(),
+        }
+    , mLookaheadMs(kLookAheadMs.begin(), kLookAheadMs.end())
+    , mVerifiers(std::size(mLookaheadMs) * std::size(mPredictors))
+    , mDelimiterIdx(createDelimiterIdx(std::size(mPredictors), std::size(mLookaheadMs)))
+    , mPredictionRecorder(
+        std::size(mVerifiers) /* vectorSize */, std::chrono::seconds(1), 10 /* maxLogLine */,
+        mDelimiterIdx)
+    , mPredictionDurableRecorder(
+        std::size(mVerifiers) /* vectorSize */, std::chrono::minutes(1), 10 /* maxLogLine */,
+        mDelimiterIdx)
+    {
+}
+
+Pose3f PosePredictor::predict(
+        int64_t timestampNs, const Pose3f& pose, const Twist3f& twist, float predictionDurationNs)
+{
+    if (timestampNs - mLastTimestampNs > kMaximumSampleIntervalBeforeResetNs) {
+        for (const auto& predictor : mPredictors) {
+            predictor->reset();
+        }
+        ++mResets;
+    }
+    mLastTimestampNs = timestampNs;
+
+    auto selectedPredictor = getCurrentPredictor();
+    if constexpr (kEnableVerification) {
+        // Update all Predictors
+        for (const auto& predictor : mPredictors) {
+            predictor->add(timestampNs, pose, twist);
+        }
+
+        // Update Verifiers and calculate errors
+        std::vector<float> error(std::size(mVerifiers));
+        for (size_t i = 0; i < mLookaheadMs.size(); ++i) {
+            constexpr float RADIAN_TO_DEGREES = 180 / M_PI;
+            const int64_t atNs =
+                    timestampNs + mLookaheadMs[i] * PosePredictorVerifier::kMillisToNanos;
+
+            for (size_t j = 0; j < mPredictors.size(); ++j) {
+                const size_t idx = i * std::size(mPredictors) + j;
+                mVerifiers[idx].verifyActualPose(timestampNs, pose);
+                mVerifiers[idx].addPredictedPose(atNs, mPredictors[j]->predict(atNs));
+                error[idx] =  RADIAN_TO_DEGREES * mVerifiers[idx].lastError();
+            }
+        }
+        // Record errors
+        mPredictionRecorder.record(error);
+        mPredictionDurableRecorder.record(error);
+    } else /* constexpr */ {
+        selectedPredictor->add(timestampNs, pose, twist);
+    }
+
+    // Deliver prediction
+    const int64_t predictionTimeNs = timestampNs + (int64_t)predictionDurationNs;
+    return selectedPredictor->predict(predictionTimeNs);
+}
+
+void PosePredictor::setPosePredictorType(PosePredictorType type) {
+    if (!isValidPosePredictorType(type)) return;
+    if (type == mSetType) return;
+    mSetType = type;
+    if (type == android::media::PosePredictorType::AUTO) {
+        type = android::media::PosePredictorType::LEAST_SQUARES;
+    }
+    if (type != mCurrentType) {
+        mCurrentType = type;
+        if constexpr (!kEnableVerification) {
+            // Verification keeps all predictors up-to-date.
+            // If we don't enable verification, we must reset the current predictor.
+            getCurrentPredictor()->reset();
+        }
+    }
+}
+
+std::string PosePredictor::toString(size_t index) const {
+    std::string prefixSpace(index, ' ');
+    std::string ss(prefixSpace);
+    ss.append("PosePredictor:\n")
+        .append(prefixSpace)
+        .append(" Current Prediction Type: ")
+        .append(android::media::toString(mCurrentType))
+        .append("\n")
+        .append(prefixSpace)
+        .append(" Resets: ")
+        .append(std::to_string(mResets))
+        .append("\n")
+        .append(getCurrentPredictor()->toString(index + 1));
+    if constexpr (kEnableVerification) {
+        // dump verification
+        ss.append(prefixSpace)
+            .append(" Prediction abs error (L1) degrees [ type (last twist least-squares) x ( ");
+        for (size_t i = 0; i < mLookaheadMs.size(); ++i) {
+            if (i > 0) ss.append(" : ");
+            ss.append(std::to_string(mLookaheadMs[i]));
+        }
+        std::vector<float> cumulativeAverageErrors(std::size(mVerifiers));
+        for (size_t i = 0; i < cumulativeAverageErrors.size(); ++i) {
+            cumulativeAverageErrors[i] = mVerifiers[i].cumulativeAverageError();
+        }
+        ss.append(" ) ms ]\n")
+            .append(prefixSpace)
+            .append("  Cumulative Average Error:\n")
+            .append(prefixSpace)
+            .append("   ")
+            .append(VectorRecorder::toString(cumulativeAverageErrors, mDelimiterIdx, "%.3g"))
+            .append("\n")
+            .append(prefixSpace)
+            .append("  PerMinuteHistory:\n")
+            .append(mPredictionDurableRecorder.toString(index + 3))
+            .append(prefixSpace)
+            .append("  PerSecondHistory:\n")
+            .append(mPredictionRecorder.toString(index + 3));
+    }
+    return ss;
+}
+
+std::shared_ptr<PredictorBase> PosePredictor::getCurrentPredictor() const {
+    // we don't use a map here, we look up directly
+    switch (mCurrentType) {
+    default:
+    case android::media::PosePredictorType::LAST:
+        return mPredictors[0];
+    case android::media::PosePredictorType::TWIST:
+        return mPredictors[1];
+    case android::media::PosePredictorType::AUTO: // shouldn't occur here.
+    case android::media::PosePredictorType::LEAST_SQUARES:
+        return mPredictors[2];
+    }
+}
+
+} // namespace android::media
diff --git a/media/libheadtracking/PosePredictor.h b/media/libheadtracking/PosePredictor.h
new file mode 100644
index 0000000..06983cc
--- /dev/null
+++ b/media/libheadtracking/PosePredictor.h
@@ -0,0 +1,203 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "PosePredictorVerifier.h"
+#include <memory>
+#include <audio_utils/Statistics.h>
+#include <media/PosePredictorType.h>
+#include <media/Twist.h>
+#include <media/VectorRecorder.h>
+
+namespace android::media {
+
+// Interface for generic pose predictors
+class PredictorBase {
+public:
+    virtual ~PredictorBase() = default;
+    virtual void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) = 0;
+    virtual Pose3f predict(int64_t atNs) const = 0;
+    virtual void reset() = 0;
+    virtual std::string toString(size_t index) const = 0;
+};
+
+/**
+ * LastPredictor uses the last sample Pose for prediction
+ *
+ * This class is not thread-safe.
+ */
+class LastPredictor : public PredictorBase {
+public:
+    void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) override {
+        (void)atNs;
+        (void)twist;
+        mLastPose = pose;
+    }
+
+    Pose3f predict(int64_t atNs) const override {
+        (void)atNs;
+        return mLastPose;
+    }
+
+    void reset() override {
+        mLastPose = {};
+    }
+
+    std::string toString(size_t index) const override {
+        std::string s(index, ' ');
+        s.append("LastPredictor using last pose: ")
+            .append(mLastPose.toString())
+            .append("\n");
+        return s;
+    }
+
+private:
+    Pose3f mLastPose;
+};
+
+/**
+ * TwistPredictor uses the last sample Twist and Pose for prediction
+ *
+ * This class is not thread-safe.
+ */
+class TwistPredictor : public PredictorBase {
+public:
+    void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) override {
+        mLastAtNs = atNs;
+        mLastPose = pose;
+        mLastTwist = twist;
+    }
+
+    Pose3f predict(int64_t atNs) const override {
+        return mLastPose * integrate(mLastTwist, atNs - mLastAtNs);
+    }
+
+    void reset() override {
+        mLastAtNs = {};
+        mLastPose = {};
+        mLastTwist = {};
+    }
+
+    std::string toString(size_t index) const override {
+        std::string s(index, ' ');
+        s.append("TwistPredictor using last pose: ")
+            .append(mLastPose.toString())
+            .append(" last twist: ")
+            .append(mLastTwist.toString())
+            .append("\n");
+        return s;
+    }
+
+private:
+    int64_t mLastAtNs{};
+    Pose3f mLastPose;
+    Twist3f mLastTwist;
+};
+
+
+/**
+ * LeastSquaresPredictor uses the Pose history for prediction.
+ *
+ * A exponential weighted least squares is used.
+ *
+ * This class is not thread-safe.
+ */
+class LeastSquaresPredictor : public PredictorBase {
+public:
+    // alpha is the exponential decay.
+    LeastSquaresPredictor(double alpha = kDefaultAlphaEstimator)
+        : mAlpha(alpha)
+        , mRw(alpha)
+        , mRx(alpha)
+        , mRy(alpha)
+        , mRz(alpha)
+        {}
+
+    void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) override;
+    Pose3f predict(int64_t atNs) const override;
+    void reset() override;
+    std::string toString(size_t index) const override;
+
+private:
+    const double mAlpha;
+    int64_t mLastAtNs{};
+    Pose3f mLastPose;
+    static constexpr double kDefaultAlphaEstimator = 0.5;
+    static constexpr size_t kMinimumSamplesForPrediction = 4;
+    audio_utils::LinearLeastSquaresFit<double> mRw;
+    audio_utils::LinearLeastSquaresFit<double> mRx;
+    audio_utils::LinearLeastSquaresFit<double> mRy;
+    audio_utils::LinearLeastSquaresFit<double> mRz;
+};
+
+/*
+ * PosePredictor predicts the pose given sensor input at a time in the future.
+ *
+ * This class is not thread safe.
+ */
+class PosePredictor {
+public:
+    PosePredictor();
+
+    Pose3f predict(int64_t timestampNs, const Pose3f& pose, const Twist3f& twist,
+            float predictionDurationNs);
+
+    void setPosePredictorType(PosePredictorType type);
+
+    // convert predictions to a printable string
+    std::string toString(size_t index) const;
+
+private:
+    static constexpr int64_t kMaximumSampleIntervalBeforeResetNs =
+            300'000'000;
+
+    // Predictors
+    const std::vector<std::shared_ptr<PredictorBase>> mPredictors;
+
+    // Verifiers, create one for an array of future lookaheads for comparison.
+    const std::vector<int> mLookaheadMs;
+
+    std::vector<PosePredictorVerifier> mVerifiers;
+
+    const std::vector<size_t> mDelimiterIdx;
+
+    // Recorders
+    media::VectorRecorder mPredictionRecorder{
+        std::size(mVerifiers) /* vectorSize */, std::chrono::seconds(1), 10 /* maxLogLine */,
+        mDelimiterIdx};
+    media::VectorRecorder mPredictionDurableRecorder{
+        std::size(mVerifiers) /* vectorSize */, std::chrono::minutes(1), 10 /* maxLogLine */,
+        mDelimiterIdx};
+
+    // Status
+
+    // SetType is the externally set predictor type.  It may include AUTO.
+    PosePredictorType mSetType = PosePredictorType::LEAST_SQUARES;
+
+    // CurrentType is the actual predictor type used by this class.
+    // It does not include AUTO because that metatype means the class
+    // chooses the best predictor type based on sensor statistics.
+    PosePredictorType mCurrentType = PosePredictorType::LEAST_SQUARES;
+
+    int64_t mResets{};
+    int64_t mLastTimestampNs{};
+
+    // Returns current predictor
+    std::shared_ptr<PredictorBase> getCurrentPredictor() const;
+};
+
+}  // namespace android::media
diff --git a/media/libheadtracking/PosePredictorVerifier.h b/media/libheadtracking/PosePredictorVerifier.h
new file mode 100644
index 0000000..6b4a357
--- /dev/null
+++ b/media/libheadtracking/PosePredictorVerifier.h
@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <string>
+
+#include <audio_utils/Statistics.h>
+#include <media/Pose.h>
+
+namespace android::media {
+
+/**
+ * PosePredictorVerifier is used to validate predictions
+ *
+ * This class is not thread-safe
+ */
+class PosePredictorVerifier {
+public:
+    std::string toString() const {
+         return mErrorStats.toString();
+    }
+
+    static constexpr int64_t kMillisToNanos = 1000000;
+
+    void verifyActualPose(int64_t timestampNs, const Pose3f& pose) {
+        for (auto it = mPredictions.begin(); it != mPredictions.end();) {
+            if (it->first < timestampNs) {
+                it = mPredictions.erase(it);
+            } else {
+                int64_t dt = it->first - timestampNs;
+                if (std::abs(dt) < 10 * kMillisToNanos) {
+                    const float angle = pose.rotation().angularDistance(it->second.rotation());
+                    const float error = std::abs(angle); // L1 (absolute difference) here.
+                    mLastError = error;
+                    mErrorStats.add(error);
+                }
+                break;
+            }
+        }
+    }
+
+    void addPredictedPose(int64_t atNs, const Pose3f& pose) {
+        mPredictions.emplace_back(atNs, pose);
+    }
+
+    float lastError() const {
+        return mLastError;
+    }
+
+    float cumulativeAverageError() const {
+        return mErrorStats.getMean();
+    }
+
+private:
+    static constexpr double kCumulativeErrorAlpha = 0.999;
+    std::deque<std::pair<int64_t, Pose3f>> mPredictions;
+    float mLastError{};
+    android::audio_utils::Statistics<double> mErrorStats{kCumulativeErrorAlpha};
+};
+
+}  // namespace androd::media
diff --git a/media/libheadtracking/Twist.cpp b/media/libheadtracking/Twist.cpp
index 63b9e69..fdec694 100644
--- a/media/libheadtracking/Twist.cpp
+++ b/media/libheadtracking/Twist.cpp
@@ -15,7 +15,7 @@
  */
 
 #include "media/Twist.h"
-
+#include <android-base/stringprintf.h>
 #include "media/QuaternionUtil.h"
 
 namespace android {
@@ -39,5 +39,11 @@
     return os;
 }
 
+std::string Twist3f::toString() const {
+    return base::StringPrintf("[%0.2f, %0.2f, %0.2f, %0.2f, %0.2f, %0.2f]",
+        mTranslationalVelocity[0], mTranslationalVelocity[1], mTranslationalVelocity[2],
+        mRotationalVelocity[0], mRotationalVelocity[1], mRotationalVelocity[2]);
+}
+
 }  // namespace media
 }  // namespace android
diff --git a/media/libheadtracking/include/media/HeadTrackingProcessor.h b/media/libheadtracking/include/media/HeadTrackingProcessor.h
index 8ef8ab0..a3c1e97 100644
--- a/media/libheadtracking/include/media/HeadTrackingProcessor.h
+++ b/media/libheadtracking/include/media/HeadTrackingProcessor.h
@@ -19,6 +19,7 @@
 
 #include "HeadTrackingMode.h"
 #include "Pose.h"
+#include "PosePredictorType.h"
 #include "Twist.h"
 
 namespace android {
@@ -98,6 +99,11 @@
     virtual void recenter(bool recenterHead = true, bool recenterScreen = true) = 0;
 
     /**
+     * Set the predictor type.
+     */
+    virtual void setPosePredictorType(PosePredictorType type) = 0;
+
+    /**
      * Dump HeadTrackingProcessor parameters under caller lock.
      */
     virtual std::string toString_l(unsigned level) const = 0;
diff --git a/media/libheadtracking/include/media/PosePredictorType.h b/media/libheadtracking/include/media/PosePredictorType.h
new file mode 100644
index 0000000..aa76d5d
--- /dev/null
+++ b/media/libheadtracking/include/media/PosePredictorType.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <string>
+
+namespace android::media {
+
+enum class PosePredictorType {
+    /** Use best predictor determined from sensor input */
+    AUTO,
+
+    /** Use last pose for future prediction */
+    LAST,
+
+    /** Use twist angular velocity for future prediction */
+    TWIST,
+
+    /** Use weighted least squares history of prior poses (ignoring twist) */
+    LEAST_SQUARES,
+};
+
+std::string toString(PosePredictorType posePredictorType);
+bool isValidPosePredictorType(PosePredictorType posePredictorType);
+
+}  // namespace android::media
diff --git a/media/libheadtracking/include/media/Twist.h b/media/libheadtracking/include/media/Twist.h
index 291cea3..51b83d8 100644
--- a/media/libheadtracking/include/media/Twist.h
+++ b/media/libheadtracking/include/media/Twist.h
@@ -66,6 +66,9 @@
         return Twist3f(mTranslationalVelocity / s, mRotationalVelocity / s);
     }
 
+    // Convert instance to a string representation.
+    std::string toString() const;
+
   private:
     Eigen::Vector3f mTranslationalVelocity;
     Eigen::Vector3f mRotationalVelocity;
diff --git a/services/audiopolicy/service/Spatializer.cpp b/services/audiopolicy/service/Spatializer.cpp
index d868d31..9ee9037 100644
--- a/services/audiopolicy/service/Spatializer.cpp
+++ b/services/audiopolicy/service/Spatializer.cpp
@@ -808,8 +808,7 @@
             }
         }
         callback = mHeadTrackingCallback;
-        mLocalLog.log("%s: %s, spatializerMode %s", __func__, media::toString(mode).c_str(),
-                      media::toString(spatializerMode).c_str());
+        mLocalLog.log("%s: updating mode to %s", __func__, media::toString(mode).c_str());
     }
     if (callback != nullptr) {
         callback->onHeadTrackingModeChanged(spatializerMode);
diff --git a/services/audiopolicy/service/SpatializerPoseController.cpp b/services/audiopolicy/service/SpatializerPoseController.cpp
index 08e9759..63f53b7 100644
--- a/services/audiopolicy/service/SpatializerPoseController.cpp
+++ b/services/audiopolicy/service/SpatializerPoseController.cpp
@@ -22,6 +22,7 @@
 
 #define LOG_TAG "SpatializerPoseController"
 //#define LOG_NDEBUG 0
+#include <cutils/properties.h>
 #include <sensor/Sensor.h>
 #include <media/MediaMetricsItem.h>
 #include <media/QuaternionUtil.h>
@@ -47,11 +48,17 @@
 // This is how fast, in rad/s, we allow rotation angle to shift during rate-limiting.
 constexpr float kMaxRotationalVelocity = 0.8f;
 
-// This is how far into the future we predict the head pose, using linear extrapolation based on
-// twist (velocity). It should be set to a value that matches the characteristic durations of moving
-// one's head. The higher we set this, the more latency we are able to reduce, but setting this too
-// high will result in high prediction errors whenever the head accelerates (changes velocity).
-constexpr auto kPredictionDuration = 50ms;
+// This is how far into the future we predict the head pose.
+// The prediction duration should be based on the actual latency from
+// head-tracker to audio output, though setting the prediction duration too
+// high may result in higher prediction errors when the head accelerates or
+// decelerates (changes velocity).
+//
+// The head tracking predictor will do a best effort to achieve the requested
+// prediction duration.  If the duration is too far in the future based on
+// current sensor variance, the predictor may internally restrict duration to what
+// is achievable with reasonable confidence as the "best prediction".
+constexpr auto kPredictionDuration = 120ms;
 
 // After not getting a pose sample for this long, we would treat the measurement as stale.
 // The max connection interval is 50ms, and HT sensor event interval can differ depending on the
@@ -99,7 +106,15 @@
               .maxTranslationalVelocity = kMaxTranslationalVelocity / kTicksPerSecond,
               .maxRotationalVelocity = kMaxRotationalVelocity / kTicksPerSecond,
               .freshnessTimeout = Ticks(kFreshnessTimeout).count(),
-              .predictionDuration = Ticks(kPredictionDuration).count(),
+              .predictionDuration = []() -> float {
+                  const int duration_ms =
+                          property_get_int32("audio.spatializer.prediction_duration_ms", 0);
+                  if (duration_ms > 0) {
+                      return duration_ms * 1'000'000LL;
+                  } else {
+                      return Ticks(kPredictionDuration).count();
+                  }
+              }(),
               .autoRecenterWindowDuration = Ticks(kAutoRecenterWindowDuration).count(),
               .autoRecenterTranslationalThreshold = kAutoRecenterTranslationThreshold,
               .autoRecenterRotationalThreshold = kAutoRecenterRotationThreshold,
@@ -147,7 +162,14 @@
                   mShouldCalculate = false;
               }
           }
-      }) {}
+      }) {
+          const media::PosePredictorType posePredictorType =
+                  (media::PosePredictorType)
+                  property_get_int32("audio.spatializer.pose_predictor_type", -1);
+          if (isValidPosePredictorType(posePredictorType)) {
+              mProcessor->setPosePredictorType(posePredictorType);
+          }
+      }
 
 SpatializerPoseController::~SpatializerPoseController() {
     {