diff --git a/README.md b/README.md
index 236a415..26f831c 100644
--- a/README.md
+++ b/README.md
@@ -48,6 +48,7 @@ for _ in range(100):
 ```bash
 pip install crazyflow           # CPU
 pip install "crazyflow[gpu]"    # GPU (Linux x86-64, CUDA 12)
+pip install "crazyflow[mps]"    # Apple Silicon (MPS via jax-mps)
 ```
 
 Developer install with editable submodules ([pixi](https://pixi.sh/) required):
@@ -72,6 +73,8 @@ First-principles physics, one drone. CPU: AMD Ryzen 9 7950X. GPU: NVIDIA RTX 409
 
 Full benchmarks including multi-drone scaling are in the [documentation](https://learnsyslab.github.io/crazyflow).
 
+> **Apple Silicon:** Crazyflow also runs on the MPS backend via `jax-mps`. Pass `device='mps'` when creating a `Sim`, or set `JAX_MPS_ASYNC_DISPATCH=1` for async dispatch. Use `pip install "crazyflow[mps]"` or `pixi run pip install jax-mps` inside the pixi environment. Under pixi, jax-mps auto-registers as the default backend with CPU fallback, so `device='cpu'` tests also pass without extra configuration.
+
 ## Related packages
 
 Crazyflow is built on two companion packages that can also be used independently:
diff --git a/crazyflow/sim/sim.py b/crazyflow/sim/sim.py
index 644f62b..0da94ea 100644
--- a/crazyflow/sim/sim.py
+++ b/crazyflow/sim/sim.py
@@ -235,8 +235,10 @@ def build_mjx_model(self, spec: mujoco.MjSpec) -> tuple[Any, Any, Model, Data]:
         """Build the MuJoCo model and data structures for the simulation."""
         mj_model = spec.compile()
         mj_data = mujoco.MjData(mj_model)
-        mjx_model = mjx.put_model(mj_model, device=self.device)
-        mjx_data = mjx.put_data(mj_model, mj_data, device=self.device)
+        # Always use the JAX implementation directly to support
+        # non-standard backends such as jax-mps (Apple Silicon).
+        mjx_model = mjx.put_model(mj_model, device=self.device, impl="JAX")
+        mjx_data = mjx.put_data(mj_model, mj_data, device=self.device, impl="JAX")
         mjx_data = jax.vmap(lambda _: mjx_data)(jnp.arange(self.n_worlds))
         return mj_model, mj_data, mjx_model, mjx_data
 
diff --git a/pyproject.toml b/pyproject.toml
index 8a54bdf..a6658a3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -37,6 +37,7 @@ requires-python = ">=3.11,<3.14" # MuJoCo has no wheels for python 14
 
 [project.optional-dependencies]
 gpu = ["jax[cuda12]"]
+mps = ["jax-mps"]
 benchmark = ["fire", "matplotlib", "pandas"]
 
 [project.urls]