- 10-725 Optimization, Spring 2010, co-teaching with Geoff Gordon
- 10-701/15-781 Machine Learning, Fall 2009
- 10-615/60-411 New Media Installation: Art that Learns, Spring 2009, co-teaching with Osman Khan
- 10-708 Probabilistic Graphical Models, Fall 2008
- 10-725 Optimization, Spring 2008, co-teaching with Geoff Gordon
- 10-701/15-781 Machine Learning, Fall 2007
- 10-701/15-781 Machine Learning, Spring 2007
- 10-708 Probabilistic Graphical Models, Fall 2006
- 10-701/15-781 Machine Learning, Spring 2006
- 10-708 Probabilistic Graphical Models, Fall 2005, co-teaching with Eric Xing
- 10-701/15-781 Machine Learning, Spring 2005, co-teaching with Tom Mitchell