Abstract: A system and method for processing predictions in the presence of adversarial perturbations in a sensing system. The processor receives inputs from sensors and runs a neural network having a network function that generates, as outputs, predictions of the neural network. The method generates from a plurality of outputs a measurement quantity (m) that may be, at or near a given input, either (i) a first measurement quantity M1 corresponding to a gradient of the given output, (ii) a second measurement quantity M2 corresponding to a gradient of a predetermined objective function derived from a training process for the neural network, or (iii) a third measurement quantity M3 derived from a combination of M1, and M2. The method determines whether the measurement quantity (m) is equal to or greater than a threshold. If greater than the threshold, one or more remedial actions are performed to correct for a perturbation.