1. A method comprising: generating a plurality of free-field array impulse responses representing impulse responses of a plurality of microphones in free-field conditions over a plurality of directions based on sound events received by the microphones; generating a first plurality of array impulse responses that model a plurality of simulated environments of different reverberation times, wherein the simulated environments differ from the free-field conditions in which the free-field array impulse responses are generated; generating a second plurality of array impulse responses in one or more actual environments, wherein the one or more actual environments differ from the free-field conditions in which the free-field array impulse responses are generated; and training a neural network for sound recognition based on one or more of the free-field array impulse responses, the first plurality of array impulse responses, and the second plurality of array impulse responses, wherein training the neural network for sound recognition includes: applying positive training labels to input sound signals corresponding to sound events from one or more prescribed directions; and applying negative training labels are applied to input sound signals corresponding to sound events from directions other than the one or more prescribed directions.