Momentum Pseudo-Labeling: Semi-Supervised ASR With Continuously Improving Pseudo-Labels

End-to-end automatic speech recognition (ASR) has become a popular alternative to traditional module-based systems, simplifying the model-building process with a single deep neural network architecture. However, the training of end-to-end ASR systems is generally data-hungry: a large amount of labeled data (speech-text pairs) is necessary to learn direct speech-to-text conversion effectively. To make the training less dependent on labeled data, pseudo-labeling, a semi-supervised learning approach, has been successfully introduced to end-to-end ASR, where a seed model is self-trained with pseudo-labels generated from unlabeled (speech-only) data. Here, we propose momentum pseudo-labeling (MPL), a simple yet effective strategy for semi-supervised ASR. MPL consists of a pair of online and offline models that interact and learn from each other, inspired by the mean teacher method. The online model is trained to predict pseudo-labels generated on the fly by the offline model. The offline model maintains an exponential moving average of the online model parameters. The interaction between the two models allows better ASR training on unlabeled data by continuously improving the quality of pseudo-labels. We apply MPL to a connectionist temporal classification-based model and evaluate it on various semi-supervised scenarios with varying amounts of data or domain mismatch. The results demonstrate that MPL significantly improves the seed model by stabilizing the training on unlabeled data. Moreover, we present additional techniques, e.g., the use of Conformer and an external language model, to further enhance MPL, which leads to better performance than other semi-supervised methods based on pseudo-labeling.