We present and evaluate a new model for Natural Language Generation (NLG) in Spoken Dialogue Systems, based on statistical planning, given noisy feedback from the current generation context (. a user and a surface realiser). We study its use in a standard NLG problem: how to present information (in this case a set of search results) to users, given the complex tradeoffs between utterance length, amount of information conveyed, and cognitive load. We set these trade-offs by analysing existing MATCH data. We then train a NLG policy using Reinforcement Learning (RL), which adapts its behaviour to noisy feedback from.