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 method includes: determining an encoder and a decoder, at least one of which is configured to implement an encoding or decoding that is based on at least one of an encoder machine-learning network or a decoder machine-learning network that has been trained to encode or decode information over a communication channel; determining first information; using the encoder to process the first information and generate a first RF signal; transmitting, by at least one transmitter, the first RF signal through the communication channel; receiving, by at least one receiver, a second RF signal that represents the first RF signal altered by transmission through the communication channel; and using the decoder to process the second RF signal and generate second information as a reconstruction of the first information.