Linguistic communication is prevalent in Human-Computer Interaction (HCI). Speech (spoken language) serves as a convenient yet potentially ambiguous form due to noise and accents, exposing a gap compared to text. In this study, we investigate the prominent HCI task, Referring Video Object Segmentation (R-VOS), which aims to segment and track objects using linguistic references. While text input is well-investigated, speech input is under-explored. Our objective is to bridge the gap between speech and text, enabling the adaptation of existing text-input R-VOS models to accommodate noisy speech input effectively. Specifically, we propose a method to align the semantic spaces between speech and text by incorporating two key modules: 1) Noise-Aware Semantic Adjustment (NSA) for clear semantics extraction from noisy speech; and 2) Semantic Jitter Suppression (SJS) enabling R-VOS models to tolerate noisy queries. Comprehensive experiments conducted on the challenging AVOS benchmarks reveal that our proposed method outperforms state-of-the-art approaches.