We present several nonlinear wavefront sensing techniques for few-mode sensors, all of which are empirically calibrated and agnostic to the choice of wavefront sensor. The first class of techniques involves a straightforward extension of the linear phase retrieval scheme to higher order; the resulting Taylor polynomial can then be solved using the method of successive approximations, though we discuss alternate methods such as homotopy continuation. In the second class of techniques, a model of the WFS intensity response is created using radial basis function interpolation. We consider both forward models, which map phase to intensity and can be solved with nonlinear least-squares methods such as the Levenberg-Marquardt algorithm, as well as backwards models, which directly map intensity to phase and do not require a solver. We provide demonstrations for both types of techniques in simulation using a quad-cell sensor and a photonic lantern wavefront sensor as examples. Next, we demonstrate how the nonlinearity of an arbitrary sensor may be studied using the method of numerical continuation, and apply this technique both to the quad-cell sensor and a photonic lantern sensor. Finally, we briefly consider the extension of nonlinear techniques to polychromatic sensors.