For the most part it's intensive and immersive with enough learn-at-your-own-pace aspects to accommodate full-time jobs, families, hobbies, etc. I feel like I come away from every class like I've actually learned something that's embedded in me.
Udacity is what it is: a platform for watching videos with some minor ability to interact with coding examples / quizzes throughout. I have no issue with it, but agree that most of the meat of the courses come from other parts of the classes.
My hunch here, through Thrun's quotes and some in this, is that there were some aspects of CEO at this level that really didn't appeal to him. How many CEOs truly get to be personally creative in their position?