Methods and systems for predicting failure in a cyber-physical system include determining a prediction index based on a comparison of input time series, from respective sensors in a cyber-physical system, to failure precursors. A failure precursor is detected in the input time series, responsive to a comparison of the prediction index to a threshold. A subset of the sensors associated with the failure precursor is determined, based on a gradient of the prediction index. A corrective action is performed responsive to the determined subset of sensors.