About Zagolo

Zagolo is an early robot dynamics calibration service for robotics teams training policies in simulation. We are seeking our first pilot partners: teams with one robot, an existing model, and a repeatable mismatch between simulated and hardware motion.

Founded by Aryan Iyappan and Shiveshwar Shah.

Aryan Iyappan

Aryan is a cofounder of Zagolo. His background is in software and AI engineering, including production systems and open-source contributions. His personal site documents projects including Strawberry GraphQL and Observal.

Shiveshwar Shah

Shiveshwar Shah is a cofounder of Zagolo. His public profiles are linked below.

The business entity is Zagolo. You can reach Aryan through hello@zagolo.com for a pilot discussion.

Work directly on the model mismatch.

Your team brings the model, controller configuration, hardware context and any existing logs. We review the recordings, prepare a plan if new runs are needed, fit the agreed dynamics parameters and compare both models on reserved test runs.

The pilot includes a review with the engineer doing the work. Before agreeing a pilot, ask us about the engineer’s relevant experience and the fit for your embodiment and simulator. We confirm the scope together rather than treating simulator names as a promise of compatibility.

Judge the work by a measured comparison.

You receive an updated simulation model, a before-and-after comparison, and an assessment of remaining error. We agree the scoring protocol before fitting and include improvements, regressions and unresolved mismatch. The calibration method explains that evaluation.

We do not promise a preset error reduction. These first pilots will establish what is achievable on real hardware. A closer dynamics fit does not establish policy task success; hardware policy evaluation is a separate experiment.

Agree scope and handling before starting.

Robot time, delivery schedule, scope and fixed fee are agreed in writing after setup review. Robot logs are used only for calibration and are not stored unless a signed written agreement covers their storage. Before sharing confidential recordings or models, agree access, transfer, retention and deletion arrangements. Publication of your data, team name or a case study requires a separate agreement.

A robot, simulator and brief description of the motion mismatch are enough for first contact. You can leave existing logs in their current format.

Contact Zagolo

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