You are provided with the abstract of a scientific paper and the abstracts of the papers it references. Your task is to write a Related Work section for the main paper. This section should concisely summarize and integrate the key points from the cited abstracts, reflecting how they relate to the main paper's contributions and context. In your summary, use numerical citation markers like [1], [2], etc., to refer to the corresponding papers.

Main Abstract:
In this paper, we address the task of spoken language understanding. We present a method for translating spoken sentences from one language into spoken sentences in another language. Given spectrogram-spectrogram pairs, our model can be trained completely from scratch to translate unseen sentences. Our method consists of a pyramidal-bidirectional recurrent network combined with a convolutional network to output sentence-level spectrograms in the target language. Empirically, our model achieves competitive performance with state-of-the-art methods on multiple languages and can generalize to unseen speakers.

Cited Abstract(s):
[1]: A text-to-speech synthesis system typically consists of multiple stages, such as a text analysis frontend, an acoustic model and an audio synthesis module. Building these components often requires extensive domain expertise and may contain brittle design choices. In this paper, we present Tacotron, an end-to-end generative text-to-speech model that synthesizes speech directly from characters. Given pairs, the model can be trained completely from scratch with random initialization. We present several key techniques to make the sequence-to-sequence framework perform well for this challenging task. Tacotron achieves a 3.82 subjective 5-scale mean opinion score on US English, outperforming a production parametric system in terms of naturalness. In addition, since Tacotron generates speech at the frame level, it's substantially faster than sample-level autoregressive methods.

[2]: In this paper, a signal is shown to be uniquely represented by the magnitude of its short-time Fourier transform (STFT) under mild restrictions on the signal and the analysis window of the STFT. Furthermore, various algorithms are developed which reconstruct signal from appropriate samples of the STFT magnitude. Several of the algorithms can also be used to obtain signal estimates from the processed STFT magnitude, which generally does not have a valid short-time structure. These algorithms are successfully applied to the time-scale modification and noise reduction problems in speech processing. Finally, the results presented here have similar potential for other application areas, including those with multidimensional signals.
Most similar to our work is Tacotron [1] . In this work, the authors move even closer to a fully differentiable system. The input to Tacotron is a sequence of character embeddings and the output is a linear-scale spectrogram. After applying Griffin-Lim phase reconstruction [2] , the waveform is generated.