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Updating Robot Safety Representations Online from Natural Language Feedback ∗ Equal Contribution. † Equal Advising. 1School of Engineering, Federal University of Minas Gerais, Brazil. Email: leohmcs@ufmg.br. Work done during Robotics Institute Summer Scholars (RISS) Program at Carnegie Mellon University. 2Electrical and Computer Engineering, University of Rochester. Email: zli133@u.rochester.edu. 3Department of Cognitive Robotics, Delft University of Technology. Email: l.peters@tudelft.nl. 4Electrical and Computer Engineering, University of Southern California. Email: somilban@usc.edu. 5Robotics Institute, Carnegie Mellon University. Email: abajcsy@cmu.edu

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Updating Robot Safety Representations Online from Natural Language Feedback † † thanks: ∗ Equal Contribution. † Equal Advising. † † thanks: 1 School of Engineering, Federal University of Minas Gerais, Brazil. Email: leohmcs@ufmg.br . Work done during Robotics Institute Summer Scholars (RISS) Program at Carnegie Mellon University. 2 Electrical and Computer Engineering, University of Rochester. Email: zli133@u.rochester.edu . 3 Department of Cognitive Robotics, Delft University of Technology. Email: l.peters@tudelft.nl . 4 Electrical and Computer Engineering, University of Southern California. E

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