Yes [1]. I haven't taken a Udacity course in quite a while, but at the time all of their videos were hosted on Youtube, so you should be able to find a lot of their courses just on Youtube. For the homework, I remember there was an include file that they didn't provide the source code for, but a Google search turned up a version someone wrote for using it locally. Usually it's pretty obvious when you've solved the problem and have the correct code, but to make absolutely sure, you have to upload your code to their server for verification. But you can take the whole class without ever visiting Udacity.

[1] https://www.youtube.com/watch?v=8cLXVG2Q6D4&list=PLAwxTw4SYa...