Virtual 3-D sound can be easily delivered to a listener by binaural audio signals that are reproduced via headphones, which guarantees that only the correct signals reach the corresponding ears. Reproducing the binaural audio signal by two or more loudspeakers introduces the problems of crosstalk on the one hand, and, of reverberation on the other hand. In crosstalk cancellation, the audio signals are fed through a network of prefilters prior to loudspeaker reproduction to ensure that only the designated signal reaches the corresponding ear of the listener. Since room impulse responses are very sensitive to spatial mismatch, and since listeners might slightly move while listening, robust designs are needed. In this paper, we present a method that jointly handles the three problems of crosstalk, reverberation reduction, and spatial robustness with respect to varying listening positions for one or more binaural source signals and multiple listeners. The proposed method is based on a multichannel room impulse response reshaping approach by optimizing a -norm based criterion. Replacing the well-known least-squares technique by a -norm based method employing a large value for allows us to explicitly control the amount of crosstalk and to shape the remaining reverberation effects according to a desired decay.