  Recently, a semi-supervised learning method known as "noisy student training"
has been shown to improve image classification performance of deep networks
significantly. Noisy student training is an iterative self-training method that
leverages augmentation to improve network performance. In this work, we adapt
and improve noisy student training for automatic speech recognition, employing
(adaptive) SpecAugment as the augmentation method. We find effective methods to
filter, balance and augment the data generated in between self-training
iterations. By doing so, we are able to obtain word error rates (WERs)
4.2%/8.6% on the clean/noisy LibriSpeech test sets by only using the clean 100h
subset of LibriSpeech as the supervised set and the rest (860h) as the
unlabeled set. Furthermore, we are able to achieve WERs 1.7%/3.4% on the
clean/noisy LibriSpeech test sets by using the unlab-60k subset of LibriLight
as the unlabeled set for LibriSpeech 960h. We are thus able to improve upon the
previous state-of-the-art clean/noisy test WERs achieved on LibriSpeech 100h
(4.74%/12.20%) and LibriSpeech (1.9%/4.1%).
