• 16-720 Computer Vision. Fall'04.
• 16-811 Math Fundamentals for Robotics. Fall'04.
• 16-731 Advanced AI. Spring'05.
• 10-701 Machine Learning. Spring'05.
• 10-708 Probabilistic Graphical Models. Fall'05.
• 16-830 Planning, Execution and Learning. Fall'05.
• 16-741 Mechanics of Manipulation. Spring'06.
• 36-703 Intermediate Probability. Spring'06.
• 10-705 Intermediate Statistics. Fall'06.