There is also a public tutor [1] based on the course - basically a set of slides and audio (I think taken from an actual course) plus sets of questions to test your understanding of the material. It's interactive though - so you can submit your answers in scheme and they're tested on the server. I think this it's a discontinued experiment as there are only 2 tutors. For me, this approach works very, very well; you can read the material, listen to it and self-test your understanding with basic yes/no answers.

[1] http://icampustutor.csail.mit.edu/