Nicklas Hansen

PhD student, UC San Diego

I am a first-year PhD student at UC San Diego, advised by Prof. Xiaolong Wang and Prof. Hao Su. Before that, I was a visiting student at UC Berkeley and a research intern at Berkeley AI Research, where I was fortunate to work with Prof. Lerrel Pinto, Prof. Xiaolong Wang, and Prof. Alexei Efros.

I recently completed an MSc at the Technical University of Denmark (DTU), where I worked with Prof. Ole Winther and Prof. Morten Mørup. I have also spent time at Nanyang Technological University (NTUsg), Retune-DSP, and

Research interest

I am broadly interested in research on the generalization and adaptation of intelligent systems. I believe AI in the future should be flexible, learn with little supervision, and learn continuously over their lifetime. I work with machine learning, robotics, and computer vision.

Publications and pre-prints

Stabilizing Deep Q-Learning with ConvNets and Vision Transformers under Data Augmentation
Nicklas Hansen, Hao Su, Xiaolong Wang
arXiv, 2021
arXiv Website Code BibTeX
Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers
Ruihan Yang*, Minghao Zhang*, Nicklas Hansen, Huazhe Xu, Xiaolong Wang
arXiv, 2021
arXiv Website BibTeX
Generalization in Reinforcement Learning by Soft Data Augmentation
Nicklas Hansen, Xiaolong Wang
ICRA, 2021
arXiv Website Code BibTeX
Self-Supervised Policy Adaptation during Deployment
Nicklas Hansen, Rishabh Jangir, Yu Sun, Guillem Alenyà, Pieter Abbeel, Alexei A. Efros, Lerrel Pinto, Xiaolong Wang
ICLR, 2021 (Spotlight)
arXiv Website BAIR Blog Code BibTeX
Generalization in Visual Reinforcement Learning
Nicklas Hansen
Master Thesis, 2021
Short Term Blood Glucose Prediction based on Continuous Glucose Monitoring Data
Ali Mohebbi, Alexander R. Johansen, Nicklas Hansen, Peter E. Christensen, Jens M. Tarp, Morten L. Jensen, Henrik Bengtsson, Morten Mørup
EMBC, 2020
arXiv BibTeX


Reinforcement Learning (Jan 2021)
Technical University of Denmark
Special course that I co-organized w/ Prof. Ole Winther for a group of students.
Three weeks of full-time study on classical and deep RL.
02456 Deep Learning (Fall 2019, Fall 2020)
Technical University of Denmark
Teaching Assistant
Significant course material contributions, supervised 100+ students’ projects on RL.
Website Code
02454 Introduction to Cognitive Science (Fall 2019)
Technical University of Denmark
Teaching Assistant
Assisted tutorial sessions and corrected assignments.


Selected open-source projects

DMControl Generalization Benchmark
Nicklas Hansen, Xiaolong Wang
November 2020
arXiv Website Code BibTeX
Recent Optimization Algorithms for Deep Learning
Nicklas Hansen*, Christoffer Riis*
December 2019
Slides Code
How to build RNNs and LSTMs from scratch with NumPy
Nicklas Hansen, Peter E. Christensen, Alexander R. Johansen
October 2019
Colab Code
Voice Activity Detection in Noisy Environments
Nicklas Hansen*, Simon H. Albrechtsen*
December 2018
PDF Code BibTeX

Press coverage

I have been mentioned in various media in connection with my research and my stay at UC Berkeley. Here's a few selected articles:


You are very welcome to contact me regarding my research. I typically respond within a few days.
I can be contacted directly at hello [at] nicklashansen .com