No lecture videos as of yet, but perhaps eventually. Princeton began a partnership with Coursera last year and the CS department has been relatively active, e.g., our algorithms course is now on the site [1], and I believe that they actually 'flipped' the course over the past semesters, i.e., students were expected to watch the lectures online and typical lecture hours were replaced with professors fielding questions / working through examples.
[1] - https://www.coursera.org/course/algs4partI