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Abstract Typically, multi-agent models for studying the evolution of perceptually grounded lexicons assume that agen ts perceive the same set of objects, and that there is either joint attention, corrective feedback or cross- situational learning. In this paper we address these two assumptions, by introducing a new multi-agent model for the evolution of perceptually grounded lexicons, where agents do not perceive the same set of objects, and where agents recei ve a cue to focus their attention to objects, thus simulating a Theory of Mind. In addition, we vary the amo unt of corrective feedback provided to guide learning word-meanings. Results of simulations show that the proposed model is quite robust to the strength of these cues and the a mount of feedback received.