Packet loss concealment (PLC) systems and methods are described that use time-warping to merge a concealment signal generated to replace one or more bad frames of an audio signal with a received signal representing one or more subsequent good frames of the audio signal in a manner that avoids signal discontinuity and audible artifacts resulting therefrom. Prediction-based PLC systems and methods are also described that use time-warping to conceal the loss of one or more frames containing a transition region in a manner that will not result in an audible artifact.