Methods, systems, and apparatus, including computer programs encoded on computer-readable storage media, for speech recognition using attention-based sequence-to-sequence models. In some implementations, audio data indicating acoustic characteristics of an utterance is received. A sequence of feature vectors indicative of the acoustic characteristics of the utterance is generated. The sequence of feature vectors is processed using a speech recognition model that has been trained using a loss function that uses N-best lists of decoded hypotheses, the speech recognition model including an encoder, an attention module, and a decoder. The encoder and decoder each include one or more recurrent neural network layers. A sequence of output vectors representing distributions over a predetermined set of linguistic units is obtained. A transcription for the utterance is obtained based on the sequence of output vectors. Data indicating the transcription of the utterance is provided.