code: def rsa_listener(utterance, qud):
      world = world_prior(2, meaning(utterance))
      S = speaker(world)
      pyro.sample("listener_constraint", S, obs=utterance)
      return qud(world)
  
imports: import argparse
  import collections
  import torch
  from search_inference import BestFirstSearch, HashingMarginal, memoize
  import pyro
  import pyro.distributions
label_desc: Use image node_id 16 for calling a global function with example usage: rsa_listener(utterance, qud) and returns: qud