There are two other versions of the course[0][1], from 2005 and 2009. This 2018 version seems to be the only one without video lectures.

Actually, looks like both versions are using the 2005 videos (but with different UI: one embeds, one links to YouTube).

[0]: https://dspace.mit.edu/bitstream/handle/1721.1/56581/6-033Sp...

[1]: https://dspace.mit.edu/bitstream/handle/1721.1/118791/6-033-...