Robots interact with their environment, other robots or humans. We need ways to guarantee safety and generally “correct” behavior. This requires a way to specify correct behavior and a model of the human-environment system. We formulate the problem as a game the robot plays against the environment. In this work, we discuss a set of approaches to increasing robot reliability. Essentially, all of these approaches consider models of robot and environment actions and compute potential problems that may arise as well as solutions. This can allow the robot to avoid scenarios where a problem would inevitably lead to some disaster, assuming some better alternative exists. There are essentially two stages to this problem. In the first stage, we model the robot and environment so that we can mathematically reason about potential scenarios and the probabilities of various outcomes. In the second stage we “solve” the model by computing a strategy that the robot can follow to optimally achieve its goal.