With aggressive scaling of minimum feature sizes, supply voltages, and design guard-bands, transient faults have become critical issues in modern electronic circuits. Synthesis from guarded atomic actions has been investigated by Arvind et al. to explore non-determinism for hardware concurrency. We show in this work that non-determinism in the guarded atomic actions can be further explored for synthesis of resilient circuits. When an error happens in an atomic action, the action may not need to be recomputed if there exist other feasible actions. Such flexibilities will be increased in the specification and explored in the synthesis for efficient error resiliency. Our synthesis approach expands the solution space and offers the possibility of performance optimization. Experimental results demonstrate the effectiveness and efficiency of our synthesis approach.