Example embodiments disclosed herein relate to audio object clustering based on renderer-aware perceptual difference. A method of processing audio objects is provided. The method includes obtaining renderer-related information indicating a configuration of a renderer. The method also includes determining, based on the obtained renderer-related information, a rendering difference between a first audio object and a second audio object among the audio objects with respect to the renderer. The method further includes clustering the audio objects at least in part based on the rendering difference. Corresponding system, device, and computer program product are also disclosed.