Before criticising your team for delivering the goods, consider whether they make mistakes in the process.
If the right path was followed, but somehow the wrong result achieved, don’t criticise.
By the same token, if the right result was achieved, but the wrong path followed, your team must be criticised.
Your job is to incentivise people to follow the rules rather than rely on luck.
Focus on the process.
Reward/criticise the process.
The result is not important.