Noise in lightmaps

I've always had this problem when baking lights in Unity and wanted to see if it was something I am doing wrong, or if it is a limitation of Beast. Whenever I bake lights, even in simple scenes, I get noise in shadowed areas like that pictured below:



I understand that resolution of light maps contributes to this, but I don't understand why there isn't a smooth gradient of shadow instead of the noise that I always get. This isn't so much a problem for normal desktop games, but for VR where you can get very close to objects it is very noticeable to the point that it's almost not worth using baked lighting.

I've spent a long time tweaking all of the light mapping settings as well as trying to Google other threads but haven't found anything that fixes this. Is there something I'm missing?