Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training and deploying machine-learned communication over radio frequency (RF) channels. One of the methods includes: determining first information; using an encoder machine-learning network to process the first information and generate a first RF signal for transmission through a communication channel; determining a second RF signal that represents the first RF signal having been altered by transmission through the communication channel; using a decoder machine-learning network to process the second RF signal and generate second information as a reconstruction of the first information; calculating a measure of distance between the second information and the first information; and updating at least one of the encoder machine-learning network or the decoder machine-learning network based on the measure of distance between the second information and the first information.