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In spoken language translation a machine translation system takes speech as input and translates it into another language. A standard machine translation system is trained on written language data and expects written language as input. In this paper we propose an approach to close the gap between the output of automatic speech recognition and the input of machine translation by training the translation system on automatically transcribed speech. In our experiments we show improvements of up to 0.9 BLEU points on the IWSLT 2012 English-to-French speech translation task.