This document discusses signal design for multiple-input multiple-output (MIMO) systems utilizing spatial multiplexing and noncoherent reception in Rayleigh fading environments. It addresses the optimization of the symbol vector error probability (SEP) through effective precoder and constellation parameters, revealing that the error performance in MIMO noncoherent reception can outperform that of coherent reception under certain conditions. The study indicates that optimal performance relies on specific binary constellations and transmit configurations, particularly involving two transmit antennas.