A streaming speech recognition model includes an audio encoder configured to receive a sequence of acoustic frames and generate a higher order feature representation for a corresponding acoustic frame in the sequence of acoustic frames. The streaming speech recognition model also includes a label encoder configured to receive a sequence of non-blank symbols output by a final softmax layer and generate a dense representation. The streaming speech recognition model also includes a joint network configured to receive the higher order feature representation generated by the audio encoder and the dense representation generated by the label encoder and generate a probability distribution over possible speech recognition hypotheses. Here, the streaming speech recognition model is trained using self-alignment to reduce prediction delay by encouraging an alignment path that is one frame left from a reference forced-alignment frame.