Using this task and a model of the meaning of spatial language, we next discuss two agents that play the game: ListenerBot (Section 4) makes decisions using a single-agent POMDP that does not take into account the beliefs or actions of its partner, whereas DialogBot (Section 5) maintains a model of its partner's beliefs.
since this behavior confuses the other agent and thus has a lower utility, it gets replaced by truthful communication as the policies improve.