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Machine transliteration is the process of automatically transforming the script of a word from a source language to a target language, while preserving pronunciation. Sequence to sequence learning has recently emerged as a new paradigm in supervised learning. In this paper a character-based encoder-decoder model has been proposed that consists of two Recurrent Neural Networks. The encoder is a Bidirectional recurrent neural network that encodes a sequence of symbols into a fixed-length vector representation, and the decoder generates the target sequence using an attention-based recurrent neural network. The encoder, the decoder and the attention mechanism are jointly trained to maximize the conditional probability of a target sequence given a source sequence. Our experiments on different datasets show that the proposed encoder-decoder model is able to achieve significantly higher transliteration quality over traditional statistical models.