I think we have some terminological confusion to work out there. :-D
MIR 3D works indeed in 3rd Order Ambisonics. However, you can't _listen_ to Ambisonics itself*) because it's a "meta-format" that is output-agnostic: You have to decide in what format you want to output your mix: stereo, planar surround, or one of the many 3D formats.
These 3D formats, in turn, can either be of the "one channel is for one speaker" variety, or they again require special encoding and playback engines, as they may also contain some metadata that needs to be interpreted correctly. Dolby Atmos is the most prominent example for the latter (due to sheer marketing power, I guess), but this is _not_ what MIR 3D will give you: We stick to the much more comfortable and musically meaningful speaker-related output formats.
Once you have set up the format of your choice (e.g. 5.1.4), you can now "virtualize" these speakers by means of psycho-acoustic trickery that makes your ears believe to hear signals from the back and/or the top: This is what you will need the binauralizer for. Its stereo output can be printed and delivered like every other stereo mix, but you shouldn't play it on speakers. You will need the plain, linear 5.1.4 mix for monitoring without headphones.
*) .. well - of course you _could_ listen to raw Ambisonics, it just doesn't make much sense in terms of positioning and spatialisation. ;-)
HTH,