Humans can generate categories from complex regularities present in recurring instances of even imperfect sensory input. Here, we examined the possibility that incidental experiences can generate lasting category knowledge. Young adults practiced a simple visuomotor task not dependent on acoustic input. Novel categories of acoustically complex sounds aligned incidentally with distinct visuomotor responses in the primary task, but were not necessary for task performance. Incidental sound category learning emerged robustly when within-category sound exemplar variability was closely yoked to visuomotor task demands, and was not apparent in the initial session when this coupling was less robust. Nonetheless, incidentally acquired sound category knowledge was evident in both cases one day later, indicative of offline learning gains and, nine days later, learning in both cases supported explicit category labeling of novel sounds. Thus, a relatively brief incidental experience with multi-dimensional sound patterns aligned with behaviorally relevant actions and events can generate new sound categories, immediately after the learning experience or a day later. These categories undergo consolidation into long-term memory to support robust generalization of learning, rather than simply reflecting recall of specific sound-pattern exemplars previously encountered. The results demonstrate that humans forage for information to acquire new knowledge that may incidentally support behavior, even when learning is not strictly necessary for performance. This incidental learning is consolidated into long-term memory, with offline learning gains outside the learning experience.