A method of rendering audio, the method comprising: deriving an optimal set of a plurality of filters, wherein each of the plurality of filters is associated with a corresponding one of a plurality of loudspeakers, wherein deriving the optimal set of a plurality of filters includes: defining a binaural error for an audio object as a function of the plurality of filters, wherein the binaural error is a difference between desired binaural signals related to at least one listener position and modeled binaural signals related to the at least one listener position, wherein the desired binaural signals are defined based on the audio object and the desired perceived position of the audio object, from the perspective of at least one listener position, and the modeled binaural signals are defined by modeling a playback of a plurality of rendered signals, through the plurality of loudspeakers having a plurality of loudspeaker positions, based on the at least one listener position, defining an activation penalty for the audio object using the plurality of filters, wherein the activation penalty is a distance penalty which has the property that for the same amount of overall energy of the plurality of rendered signals, where overall means combining across all loudspeakers, the penalty increases when more of that energy is concentrated in loudspeakers of the plurality of loudspeakers whose nominal position is more distant from the desired perceived position of the audio object, and minimizing a cost function with respect to the plurality of filters, wherein the cost function is a combination of the binaural error and the activation penalty for the plurality of filters; rendering the audio object using the derived optimal set of a plurality of filters to generate a plurality of rendered signals; and outputting, by the plurality of loudspeakers, the plurality of rendered signals. deriving an optimal set of a plurality of filters, wherein each of the plurality of filters is associated with a corresponding one of a plurality of loudspeakers, wherein deriving the optimal set of a plurality of filters includes: defining a binaural error for an audio object as a function of the plurality of filters, wherein the binaural error is a difference between desired binaural signals related to at least one listener position and modeled binaural signals related to the at least one listener position, wherein the desired binaural signals are defined based on the audio object and the desired perceived position of the audio object, from the perspective of at least one listener position, and the modeled binaural signals are defined by modeling a playback of a plurality of rendered signals, through the plurality of loudspeakers having a plurality of loudspeaker positions, based on the at least one listener position, defining an activation penalty for the audio object using the plurality of filters, wherein the activation penalty is a distance penalty which has the property that for the same amount of overall energy of the plurality of rendered signals, where overall means combining across all loudspeakers, the penalty increases when more of that energy is concentrated in loudspeakers of the plurality of loudspeakers whose nominal position is more distant from the desired perceived position of the audio object, and minimizing a cost function with respect to the plurality of filters, wherein the cost function is a combination of the binaural error and the activation penalty for the plurality of filters; defining a binaural error for an audio object as a function of the plurality of filters, wherein the binaural error is a difference between desired binaural signals related to at least one listener position and modeled binaural signals related to the at least one listener position, wherein the desired binaural signals are defined based on the audio object and the desired perceived position of the audio object, from the perspective of at least one listener position, and the modeled binaural signals are defined by modeling a playback of a plurality of rendered signals, through the plurality of loudspeakers having a plurality of loudspeaker positions, based on the at least one listener position, defining an activation penalty for the audio object using the plurality of filters, wherein the activation penalty is a distance penalty which has the property that for the same amount of overall energy of the plurality of rendered signals, where overall means combining across all loudspeakers, the penalty increases when more of that energy is concentrated in loudspeakers of the plurality of loudspeakers whose nominal position is more distant from the desired perceived position of the audio object, and minimizing a cost function with respect to the plurality of filters, wherein the cost function is a combination of the binaural error and the activation penalty for the plurality of filters; rendering the audio object using the derived optimal set of a plurality of filters to generate a plurality of rendered signals; and outputting, by the plurality of loudspeakers, the plurality of rendered signals.