As autonomous systems start to operate in open, uncontrolled environments alongside humans, safety becomes a major concern. In applications in which human-operated systems and autonomous systems are in close interaction, the heterogeneity causes different agents to exhibit different behaviors under the same situation due to the differences in how they see the world and make decisions. For example, autonomous vehicles tend to be more conservative than average human drivers, leading to instances of confusion and frustration of human drivers when encountering an autonomous vehicle. As a result, understanding the effects of inconsistencies among interacting agents on the overall system is critical for the adoption and acceptance of autonomous systems.