AIUI, Bitcoin's "consensus" is just whoever has the longest valid blockchain is the winner. The algorithm tunes the difficulty s.t. it takes ~10 minutes to find a block, so the chance of two blockchains continuing to have the same length for any long amount of time is unlikely. That is, one chain will find the next block before the other, and in the meantime, be able to distribute that fact to the other nodes and thus "win".
From https://en.bitcoin.it/wiki/Block_chain:
> Honest generators only build onto a block (by referencing it in blocks they create) if it is the latest block in the longest valid chain. "Length" is calculated as total combined difficulty of that chain, not number of blocks, though this distinction is only important in the context of a few potential attacks.
Raft and Paxos are non-Byzantine. They assume that the nodes are actively trying to follow the protocol though there me be such things as network partitions and crashes.