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This document is comprised of a collection of updated preliminary parameters for the key parts of the muon collider. The updated preliminary parameters follow on from the October 2023 Tentative Parameters Report. Particular attention has been given to regions of the facility that are believed to hold greater technical uncertainty in their design and that have a strong impact on the cost and power consumption of the facility. The data is collected from a collaborative spreadsheet and transferred to overleaf.

Despite recent advances in hardware acceleration of ray tracing, real-time ray budgets remain stubbornly limited at a handful of samples per pixel (spp) on commodity hardware, placing the onus on denoising algorithms to achieve high visual quality for path traced global illumination. Neural network-based solutions give excellent result quality at the cost of increased execution time relative to hand-engineered methods, making them less suitable for deployment on resource-constrained systems. We therefore propose incorporating a neural network into a computationally-efficient local linear model-based denoiser, and demonstrate faithful single-frame reconstruction of global illumination for Lambertian scenes at very low sample counts (1spp) and for low computational cost. Other contributions include improving the quality and performance of local linear model-based denoising through a simplified mathematical treatment, and demonstration of the surprising usefulness of ambient occlusion as a guide channel. We also show how our technique is straightforwardly extensible to joint denoising and upsampling of path traced renders with reference to low-cost, rasterized guide channels., Comment: 11 pages, 10 figures, 1 table

Recent constraints on neutron star mass and radius have advanced our understanding of the equation of state of cold dense matter. Some of them have been obtained by modeling the pulses of three millisecond X-ray pulsars observed by the Neutron Star Interior Composition Explorer (NICER). Here, we present a Bayesian parameter inference for a fourth pulsar, PSR J1231-1411, using the same technique with NICER and XMM-Newton data. When applying a broad mass-inclination prior from radio timing measurements and the emission region geometry model that can best explain the data, we find likely-converged results only when using a limited radius prior. If limiting the radius to be consistent with the previous observational constraints and equation of state analyses, we infer the radius to be $12.6 \pm 0.3$ km and the mass to be $1.04_{-0.03}^{+0.05}$ $M_\odot$, each reported as the posterior credible interval bounded by the $16\,\%$ and $84\,\%$ quantiles. If using an uninformative prior but limited between $10$ and $14$ km, we find otherwise similar results, but $R_{\mathrm{eq}} = 13.5_{-0.5}^{+0.3}$ km for the radius. In both cases, we find a non-antipodal hot region geometry where one emitting spot is at the equator or slightly above, surrounded by a large colder region, and where a non-circular hot region lies close to southern rotational pole. If using a wider radius prior, we only find solutions that fit the data significantly worse. We discuss the challenges in finding the better fitting solutions, possibly related to the weak interpulse feature in the pulse profile., Comment: 22 pages, 13 figures (2 of which are figure sets), 3 tables, accepted for publication in ApJ

Pulse profile modelling (PPM) is a technique for inferring mass, radius and hotspot properties of millisecond pulsars. PPM is now regularly used for analysis of rotation-powered millisecond pulsars (RMPs) with data from the Neutron Star Interior Composition ExploreR (NICER). Extending PPM to accreting millisecond pulsars (AMPs) is attractive, because they are a different source class featuring bright X-ray radiation from hotspots powered by accretion. In this paper, we present a modification of one of the PPM codes, X-PSI, so that it can be used for AMPs. In particular, we implement a model of an accretion disc and atmosphere model appropriate for the hotspots of AMPs, and improve the overall computational efficiency. We then test parameter recovery with synthetic NICER data in two scenarios with reasonable parameters for AMPs. We find in the first scenario, where the hotspot is large, that we are able to tightly and accurately constrain all parameters including mass and radius. In the second scenario, which is a high inclination system with a smaller hotspot, we find degeneracy between a subset of model parameters and a slight bias in the inferred mass and radius. This analysis of synthetic data lays the ground work for future analysis of AMPs with NICER data. Such an analysis could be complemented by future (joint) analysis of polarization data from the Imaging X-ray Polarimetry Explorer (IXPE)., Comment: 14 pages, 5 figures, 3 tables. Paper submitted to MNRAS

This paper introduces a framework for synthesizing reactively loaded antennas and antenna arrays. The framework comprises two main components: computing the fundamental bound using the semi-definite relaxation and finding a realizable solution via optimization on a Riemannian manifold. The embedded element patterns are subject to the optimization with two distinct goals under study: focusing the radiation in a single direction or synthesizing patterns with desired shapes. The reactive terminations of passive antenna elements serve as optimization variables. We demonstrate the framework using a connected bowtie-slot antenna and antenna array with both beam-focusing and beam-shaping targets. The tests show that the optimization on the Riemannian manifold yields superior results compared to existing methods, such as the genetic algorithm. This is particularly evident in the most complex and extensive problem, which requires the synthesis of shaped embedded element patterns for a sparse reactively loaded antenna array with a limited field of view.

We report on the discovery of polarized X-ray emission from an accreting millisecond pulsar. During a 10-day-long coverage of the February 2024 outburst of SRGA J144459.2-604207, the Imaging X-ray Polarimetry Explorer (IXPE) detected an average polarization degree of the 2-8 keV emission of 2.3% +/- 0.4% at an angle of 59{\deg} +/- 6{\deg} (East of North; uncertainties quoted at the 1${\sigma}$ confidence level). The polarized signal shows a significant energy dependence with a degree of 4.0% +/- 0.5% between 3 and 6 keV and < 2% (90% c.l.) in the 2-3 keV range. We used NICER, XMM-Newton, and NuSTAR observations to obtain an accurate pulse timing solution and perform a phase-resolved polarimetric analysis of IXPE data. We did not detect any significant variability of the Stokes parameters Q and U with the spin and the orbital phases. We used the relativistic rotating vector model to show that a moderately fan-beam emission from two point-like spots at a small magnetic obliquity ($\simeq$ 10{\deg}) is compatible with the observed pulse profile and polarization properties. IXPE also detected 52 type-I X-ray bursts, with a recurrence time $\Delta t_{rec}$ increasing from 2 to 8 h as a function of the observed count rate $C$ as as $\Delta t_{rec} \simeq C^{-0.8}$ We stacked the emission observed during all the bursts and obtained an upper limit on the polarization degree of 8.5% (90% c.l.)., Comment: 13 pages, 9 figures, submitted to ApJL

The International Muon Collider Collaboration (IMCC) [1] was established in 2020 following the recommendations of the European Strategy for Particle Physics (ESPP) and the implementation of the European Strategy for Particle Physics-Accelerator R&D Roadmap by the Laboratory Directors Group [2], hereinafter referred to as the the European LDG roadmap. The Muon Collider Study (MuC) covers the accelerator complex, detectors and physics for a future muon collider. In 2023, European Commission support was obtained for a design study of a muon collider (MuCol) [3]. This project started on 1st March 2023, with work-packages aligned with the overall muon collider studies. In preparation of and during the 2021-22 U.S. Snowmass process, the muon collider project parameters, technical studies and physics performance studies were performed and presented in great detail. Recently, the P5 panel [4] in the U.S. recommended a muon collider R&D, proposed to join the IMCC and envisages that the U.S. should prepare to host a muon collider, calling this their "muon shot". In the past, the U.S. Muon Accelerator Programme (MAP) [5] has been instrumental in studies of concepts and technologies for a muon collider., Comment: This document summarises the International Muon Collider Collaboration (IMCC) progress and status of the Muon Collider R&D programme

Pulse profile modeling of X-ray data from NICER is now enabling precision inference of neutron star mass and radius. Combined with nuclear physics constraints from chiral effective field theory ($\chi$EFT), and masses and tidal deformabilities inferred from gravitational wave detections of binary neutron star mergers, this has lead to a steady improvement in our understanding of the dense matter equation of state (EOS). Here we consider the impact of several new results: the radius measurement for the 1.42$\,M_\odot$ pulsar PSR J0437$-$4715 presented by Choudhury et al. (2024), updates to the masses and radii of PSR J0740$+$6620 and PSR J0030$+$0451, and new $\chi$EFT results for neutron star matter up to 1.5 times nuclear saturation density. Using two different high-density EOS extensions -- a piecewise-polytropic (PP) model and a model based on the speed of sound in a neutron star (CS) -- we find the radius of a 1.4$\,M_\odot$ (2.0$\,M_\odot$) neutron star to be constrained to the 95% credible ranges $12.28^{+0.50}_{-0.76}\,$km ($12.33^{+0.70}_{-1.34}\,$km) for the PP model and $12.01^{+0.56}_{-0.75}\,$km ($11.55^{+0.94}_{-1.09}\,$km) for the CS model. The maximum neutron star mass is predicted to be $2.15^{+0.14}_{-0.16}\,$$M_\odot$ and $2.08^{+0.28}_{-0.16}\,$$M_\odot$ for the PP and CS model, respectively. We explore the sensitivity of our results to different orders and different densities up to which $\chi$EFT is used, and show how the astrophysical observations provide constraints for the pressure at intermediate densities. Moreover, we investigate the difference $R_{2.0} - R_{1.4}$ of the radius of 2$\,M_\odot$ and 1.4$\,M_\odot$ neutron stars within our EOS inference., Comment: 23 pages, 15 figures; published version

We report Bayesian inference of the mass, radius and hot X-ray emitting region properties - using data from the Neutron Star Interior Composition ExploreR (NICER) - for the brightest rotation-powered millisecond X-ray pulsar PSR J0437$\unicode{x2013}$4715. Our modeling is conditional on informative tight priors on mass, distance and binary inclination obtained from radio pulsar timing using the Parkes Pulsar Timing Array (PPTA) (Reardon et al. 2024), and we use NICER background models to constrain the non-source background, cross-checking with data from XMM-Newton. We assume two distinct hot emitting regions, and various parameterized hot region geometries that are defined in terms of overlapping circles; while simplified, these capture many of the possibilities suggested by detailed modeling of return current heating. For the preferred model identified by our analysis we infer a mass of $M = 1.418 \pm 0.037$ M$_\odot$ (largely informed by the PPTA mass prior) and an equatorial radius of $R = 11.36^{+0.95}_{-0.63}$ km, each reported as the posterior credible interval bounded by the 16% and 84% quantiles. This radius favors softer dense matter equations of state and is highly consistent with constraints derived from gravitational wave measurements of neutron star binary mergers. The hot regions are inferred to be non-antipodal, and hence inconsistent with a pure centered dipole magnetic field., Comment: 27 pages, 16 figures, + appendices. Accepted in ApJL. Data files and reproduction package available in Zenodo

We report an updated analysis of the radius, mass, and heated surface regions of the massive pulsar PSR J0740+6620 using Neutron Star Interior Composition Explorer (NICER) data from 2018 September 21 to 2022 April 21, a substantial increase in data set size compared to previous analyses. Using a tight mass prior from radio timing measurements and jointly modeling the new NICER data with XMM-Newton data, the inferred equatorial radius and gravitational mass are $12.49_{-0.88}^{+1.28}$ km and $2.073_{-0.069}^{+0.069}$ $M_\odot$ respectively, each reported as the posterior credible interval bounded by the $16\,\%$ and $84\,\%$ quantiles, with an estimated systematic error $\lesssim 0.1$ km. This result was obtained using the best computationally feasible sampler settings providing a strong radius lower limit but a slightly more uncertain radius upper limit. The inferred radius interval is also close to the $R=12.76_{-1.02}^{+1.49}$ km obtained by Dittmann et al., when they require the radius to be less than $16$ km as we do. The results continue to disfavor very soft equations of state for dense matter, with $R<11.15$ km for this high-mass pulsar excluded at the $95\,\%$ probability. The results do not depend significantly on the assumed cross-calibration uncertainty between NICER and XMM-Newton. Using simulated data that resemble the actual observations, we also show that our pipeline is capable of recovering parameters for the inferred models reported in this paper., Comment: 17 pages, 9 figures (2 of which are figure sets), 2 tables, published in ApJ

We analyze the dynamic tradeoff between generating and disclosing evidence. Agents are tempted to delay investing in a new technology in order to learn from information generated by the experiences of others. This informational free-riding is collectively harmful as it slows down learning and innovation adoption. A welfare-maximizing designer can delay the disclosure of previously generated information in order to speed up adoption. The optimal policy transparently discloses bad news and delays good news. This finding resonates with regulation demanding that fatal breakdowns be reported promptly. The designer's intervention makes all agents better off.

Pulse Profile Modeling (PPM), the technique used to infer mass, radius and geometric parameters for rotation-powered millisecond pulsars using data from the Neutron Star Interior Composition Explorer (NICER), relies on relativistic ray-tracing of thermal X-ray photons from hot spots on the neutron star surface to the observer. To verify our ray-tracing codes we have in the past conducted cross-tests for simple hot spot geometries, focusing primarily on the implementation of the space-time model. In this paper, we present verification for test problems that explore the more complex hot spot geometries that are now being employed in the NICER PPM analyses. We conclude that the accuracy of our computed waveforms is in general sufficiently high for analyses of current NICER data sets. We have however identified some extreme configurations where extra care may be needed., Comment: Submitted to ApJ

Pulse profile modelling (PPM) is a comprehensive relativistic ray-tracing technique employed to determine the properties of neutron stars. In this study, we apply this technique to the Type I X-ray burster and accretion-powered millisecond pulsar XTE J1814-338, extracting its fundamental properties using PPM of its thermonuclear burst oscillations. Using data from its 2003 outburst, and a single uniform temperature hot spot model, we infer XTE J1814-338 to be located at a distance of $7.2^{+0.3}_{-0.4}$ kpc, with a mass of $1.21^{+0.05}_{-0.05}$ M$_\odot$ and an equatorial radius of $7.0^{+0.4}_{-0.4}$ km. Our results also offer insight into the time evolution of the hot spot but point to some potential shortcomings of the single uniform temperature hot spot model. We explore the implications of this result, including what we can learn about thermonuclear burst oscillation mechanisms and the importance of modelling the accretion contribution to the emission during the burst., Comment: Accepted for publication in MNRAS. The Zenodo link is public

Today, more and more embedded devices are being connected through a network, generally Internet, offering users different services. This concept refers to Internet of Things (IoT), bringing information and control capabilities in many fields like medicine, smart homes, home security, etc. Main drawbacks of IoT environment are its dependency on Internet connectivity and need continuous devices power. These dependencies may affect system performances, namely request processing response times. In this context, we propose in this paper a continuous performance monitoring methodology, applied on IoT systems based on Publish/subscribe communication model. Our approach assesses performances using Stochastic Petri net modeling, and self-optimizes whenever poor performances are detected. Our approach relies on a Stochastic Petri nets modelling and analysis to assess performances. We target improving performances, in particular response times, by online modification of influencing factors., Comment: 13 pages, 7 figures. Conference: 5th International Conference on Networks, Blockchain and Internet of Things (NBIoT 2024). Published by Computer Science Conference Proceedings in Computer Science & Information Technology (CS & IT)

Weakly magnetized neutron stars in X-ray binaries show complex phenomenology with several spectral components that can be associated with the accretion disk, boundary and/or spreading layer, a corona, and a wind. Spectroscopic information alone is, however, not enough to disentangle these components. Additional information about the nature of the spectral components and in particular the geometry of the emission region can be provided by X-ray polarimetry. One of the objects of the class, a bright, persistent, and rather peculiar galactic Type I X-ray burster was observed with the Imaging X-ray Polarimetry Explorer (IXPE) and the X-ray Multi-Mirror Mission Newton (XMM-Newton). Using the XMM-Newton data we estimated the current state of the source as well as detected strong absorption lines associated with the accretion disk wind. IXPE data showed the source to be significantly polarized in the 2-8 keV energy band with the overall polarization degree (PD) of 1.4% at a polarization angle (PA) of -2 degrees (errors at 68% confidence level). During the two-day long observation, we detected rotation of the PA by about 70 degrees with the corresponding changes in the PD from 2% to non-detectable and then up to 5%. These variations in polarization properties are not accompanied by visible changes in spectroscopic characteristics. The energy-resolved polarimetric analysis showed a significant change in polarization, from being strongly dependent on energy at the beginning of the observation to being almost constant with energy in the later parts of the observation. As a possible interpretation, we suggest the presence of a constant component of polarization, strong wind scattering, or different polarization of the two main spectral components with individually peculiar behavior. The rotation of the PA suggests a 30-degree misalignment of the neutron star spin from the orbital axis., Comment: 12 pages, 12 figures

The hotspot emission of accreting millisecond pulsars (AMPs) undergoes scattering in the accretion flow between the disk inner radius and the neutron star surface. The scattering optical depth of the flow depends on the photon emission angle, which is a function of the pulse phase, and reaches its maximum when the hotspot is closest to the observer. At sufficiently large optical depths the observed pulse profile should develop a secondary minimum, the depth of which depends on the accretion rate and the emission geometry. Such a dip evolving with the accretion rate might explain the phase shift and pulse profile evolution observed in AMPs during outbursts. Accounting for scattering is important for accurate modeling of the AMP pulse profiles in order to improve the accuracy of determination of the neutron star parameters, such as their masses and radii. In this paper we present a simplified analytical model for the Thomson optical depth of the accretion funnel, and apply it to simulating the pulse profiles. We show that scattering in the accretion funnel has a significant effect on the pulse profiles at accretion rates of $\dot{M} \gtrsim 10^{-10}~{M}_\odot\, \mathrm{yr}^{-1}$. Our model predicts a gradual evolution of the pulse profile with the accretion rate that appears to be consistent with the observations., Comment: 8 pages, 6 figures, accepted for publication in A&A on 16 November 2023

Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a method for reactive TAMP to cope with runtime uncertainties and disturbances. We combine an Active Inference planner (AIP) for adaptive high-level action selection and a novel Multi-Modal Model Predictive Path Integral controller (M3P2I) for low-level control. This results in a scheme that simultaneously adapts both high-level actions and low-level motions. The AIP generates alternative symbolic plans, each linked to a cost function for M3P2I. The latter employs a physics simulator for diverse trajectory rollouts, deriving optimal control by weighing the different samples according to their cost. This idea enables blending different robot skills for fluid and reactive plan execution, accommodating plan adjustments at both the high and low levels to cope, for instance, with dynamic obstacles or disturbances that invalidate the current plan. We have tested our approach in simulations and real-world scenarios., Comment: Accepted for IEEE RA-L, June 2024. Project's website: https://autonomousrobots.nl/paper_websites/m3p2i-aip

Pulse profiles of accreting millisecond pulsars can be used to determine neutron star (NS) parameters, such as their masses and radii, and therefore provide constraints on the equation of state of cold dense matter. Information obtained by the Imaging X-ray Polarimetry Explorer (IXPE) can be used to decipher pulsar inclination and magnetic obliquity, providing ever tighter constraints on other parameters. In this paper, we develop a new emission model for accretion-powered millisecond pulsars based on thermal Comptonization in an accretion shock above the NS surface. The shock structure was approximated by an isothermal plane-parallel slab and the Stokes parameters of the emergent radiation were computed as a function of the zenith angle and energy for different values of the electron temperature, the Thomson optical depth of the slab, and the temperature of the seed blackbody photons. We show that our Compton scattering model leads to a significantly lower polarization degree of the emitted radiation compared to the previously used Thomson scattering model. We computed a large grid of shock models, which can be combined with pulse profile modeling techniques both with and without polarization included. In this work, we used the relativistic rotating vector model for the oblate NS in order to produce the observed Stokes parameters as a function of the pulsar phase. Furthermore, we simulated the data to be produced by IXPE and obtained constraints on model parameters using nested sampling. The developed methods can also be used in the analysis of the data from future satellites, such as the enhanced X-ray Timing and Polarimetry mission., Comment: Accepted to A&A on 11 August 2023

Pulse profile modelling is a relativistic ray-tracing technique that can be used to infer masses, radii and geometric parameters of neutron stars. In a previous study, we looked at the performance of this technique when applied to thermonuclear burst oscillations from accreting neutron stars. That study showed that ignoring the variability associated with burst oscillation sources resulted in significant biases in the inferred mass and radius, particularly for the high count rates that are nominally required to obtain meaningful constraints. In this follow-on study, we show that the bias can be mitigated by slicing the bursts into shorter segments where variability can be neglected, and jointly fitting the segments. Using this approach, the systematic uncertainties on the mass and radius are brought within the range of the statistical uncertainty. With about 10$^6$ source counts, this yields uncertainties of approximately 10% for both the mass and radius. However, this modelling strategy requires substantial computational resources. We also confirm that the posterior distributions of the mass and radius obtained from multiple bursts of the same source can be merged to produce outcomes comparable to that of a single burst with an equivalent total number of counts., Comment: Accepted for publication in MNRAS. The Zenodo link is now public

In 2019 the NICER collaboration published the first mass and radius inferred for PSR J0030+0451, thanks to NICER observations, and consequent constraints on the equation of state characterising dense matter. Two independent analyses found a mass of $\sim 1.3-1.4\,\mathrm{M_\odot}$ and a radius of $\sim 13\,$km. They also both found that the hot spots were all located on the same hemisphere, opposite to the observer, and that at least one of them had a significantly elongated shape. Here we reanalyse, in greater detail, the same NICER data set, incorporating the effects of an updated NICER response matrix and using an upgraded analysis framework. We expand the adopted models and jointly analyse also XMM-Newton data, which enables us to better constrain the fraction of observed counts coming from PSR J0030+0451. Adopting the same models used in previous publications, we find consistent results, although with more stringent inference requirements. We also find a multi-modal structure in the posterior surface. This becomes crucial when XMM-Newton data is accounted for. Including the corresponding constraints disfavors the main solutions found previously, in favor of the new and more complex models. These have inferred masses and radii of $\sim [1.4 \mathrm{M_\odot}, 11.5$ km] and $\sim [1.7 \mathrm{M_\odot}, 14.5$ km], depending on the assumed model. They display configurations that do not require the two hot spots generating the observed X-rays to be on the same hemisphere, nor to show very elongated features, and point instead to the presence of temperature gradients and the need to account for them., Comment: 35 pages, 11 figures, 7 tables

We present an analysis of the effects of uncertainties in the atmosphere models on the radius, mass, and other neutron star parameter constraints for the NICER observations of rotation-powered millisecond pulsars. To date, NICER has applied the X-ray pulse profile modeling technique to two millisecond-period pulsars: PSR J0030+0451 and the high-mass pulsar PSR J0740+6620. These studies have commonly assumed a deep-heated, fully ionized hydrogen atmosphere model, although they have explored the effects of partial-ionization and helium composition in some cases. Here, we extend that exploration and also include new models with partially ionized carbon composition, externally heated hydrogen, and an empirical atmospheric beaming parameterization to explore deviations in the expected anisotropy of the emitted radiation. None of the studied atmosphere cases have any significant influence on the inferred radius of PSR J0740+6620, possibly due to its X-ray faintness, tighter external constraints, and/or viewing geometry. In the case of PSR J0030+0451, both the composition and ionization state could significantly alter the inferred radius. However, based on the evidence (prior predictive probability of the data), partially ionized hydrogen and carbon atmospheres are disfavored. The difference in the evidence for ionized hydrogen and helium atmospheres is too small to be decisive for most cases, but the inferred radius for helium models trends to larger sizes around or above 14-15 km. External heating or deviations in the beaming that are less than $5\,\%$ at emission angles smaller than 60 degrees, on the other hand, have no significant effect on the inferred radius., Comment: 26 pages, 12 figures (2 of which are figure sets), 3 tables. Published in ApJ

In the last few years, the NICER collaboration has provided mass and radius inferences, via pulse profile modeling, for two pulsars: PSR J0030+0451 and PSR J0740+6620. Given the importance of these results for constraining the equation of state of dense nuclear matter, it is crucial to validate them and test their robustness. We therefore explore the reliability of these results and their sensitivity to analysis settings and random processes, including noise, focusing on the specific case of PSR J0030+0451. We use X-PSI, one of the two main analysis pipelines currently employed by the NICER collaboration for mass and radius inferences. With synthetic data that mimic the PSR J0030+0451 NICER data set, we evaluate the recovery performances of X-PSI under conditions never tested before, including complex modeling of the thermally emitting neutron star surface. For the test cases explored, our results suggest that X-PSI is capable of recovering the true mass and radius within reasonable credible intervals. This work also reveals the main vulnerabilities of the analysis: a significant dependence on noise and the presence of multi-modal structure in the posterior surface. Noise particularly impacts our sensitivity to the analysis settings and widths of the posterior distributions. The multi-modal structure in the posterior suggests that biases could be present if the analysis is unable to exhaustively explore the parameter space. Convergence testing, to ensure an adequate coverage of the parameter space and a suitable representation of the posterior distribution, is one possible solution to these challenges., Comment: 27 pages, 13 figures

We present a method for sampling-based model predictive control that makes use of a generic physics simulator as the dynamical model. In particular, we propose a Model Predictive Path Integral controller (MPPI), that uses the GPU-parallelizable IsaacGym simulator to compute the forward dynamics of a problem. By doing so, we eliminate the need for explicit encoding of robot dynamics and contacts with objects for MPPI. Since no explicit dynamic modeling is required, our method is easily extendable to different objects and robots and allows one to solve complex navigation and contact-rich tasks. We demonstrate the effectiveness of this method in several simulated and real-world settings, among which mobile navigation with collision avoidance, non-prehensile manipulation, and whole-body control for high-dimensional configuration spaces. This method is a powerful and accessible open-source tool to solve a large variety of contact-rich motion planning tasks., Comment: Submitted to RA-L. Code and videos available at https://sites.google.com/view/mppi-isaac/