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 the 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 a desired perceived position of the audio object, from the perspective of the at least one listener positions, 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, 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; wherein the plurality of loudspeakers includes a first loudspeaker and a second loudspeaker, wherein the first loudspeaker has a nominal position that is a first distance from the desired perceived position of the audio object, and wherein the second loudspeaker has a nominal position that is a second distance from the desired perceived position of the audio object, wherein the first distance is greater than the second distance; and wherein the activation penalty is a distance penalty, wherein the distance penalty becomes larger when, for a given overall level of the plurality of rendered signals, more of the given overall level is associated with the first loudspeaker than is associated with the second loudspeaker. 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 a desired perceived position of the audio object, from the perspective of the at least one listener positions, 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, 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; wherein the plurality of loudspeakers includes a first loudspeaker and a second loudspeaker, wherein the first loudspeaker has a nominal position that is a first distance from the desired perceived position of the audio object, and wherein the second loudspeaker has a nominal position that is a second distance from the desired perceived position of the audio object, wherein the first distance is greater than the second distance; and wherein the activation penalty is a distance penalty, wherein the distance penalty becomes larger when, for a given overall level of the plurality of rendered signals, more of the given overall level is associated with the first loudspeaker than is associated with the second loudspeaker.