According to embodiments, a system, method and non-transitory computer-readable medium are provided to receive time series data associated with one or more sensors values of a piece of machinery at a first time period, perform a non-linear transformation on the time-series data to produce one or more nonlinear temporal embedding outputs, and projecting each of the nonlinear temporal embedding outputs to a different dimension space to identify at least one causal relationship in the nonlinear temporal embedding outputs. The nonlinear embeddings are further projected to the original dimension space to produce one or more causality learning outputs. Nonlinear dimensional reduction is performed on the one or more causality learning outputs to produce reduced dimension causality learning outputs. The learning outputs are mapped to one or more predicted outputs which include a prediction of one or more of the sensor values at a second time period.