Approaches presented herein provide for a framework to integrate human provided feedback in natural language to update a robot planning cost or value. The natural language feedback may be modeled as a cost or value associated with completing a task assigned to the robot. This cost or value may then be added to an initial task cost or value to update one or more actions to be performed by the robot. The framework can be applied to both real work and simulated environments where the robot may receive instructions, in natural language, that either provide a goal, modify an existing goal, or provide constraints to actions to achieve an existing goal.