In one embodiment, a method includes receiving, from a controller, a data packet including (1) a plurality of samples each corresponding to measurements from a motion sensor and (2) a timestamp corresponding to a measurement time of one of the samples as measured by a clock of the controller; determining, based on the timestamp, an estimated measurement time relative to a local clock for each of the plurality of samples that is not associated with the timestamp; and converting each of the timestamp and the estimated measurement times to a corresponding synchronization time using a learned relationship relating the clock of the controller and the local clock. The learned relationship is iteratively learned based on previously received data packets from the controller. The synchronization time associated with each of the plurality of samples represents an estimated time, relative to the local clock, at which the sample was measured.