Abstract: Systems and methods for training a machine-learned model are provided. A method can include can include obtaining an unlabeled audio signal, sampling the unlabeled audio signal to select one or more sampled slices, inputting the one or more sampled slices into a machine-learned model, receiving, as an output of the machine-learned model, one or more determined characteristics associated with the audio signal, determining a loss function for the machine-learned model based at least in part on a difference between the one or more determined characteristics and one or more corresponding ground truth characteristics of the audio signal, and training the machine-learned model from end to end based at least in part on the loss function. The one or more determined characteristics can include one or more reconstructed portions of the audio signal temporally adjacent to the one or more sampled slices or an estimated distance between two sampled slices.