[bradfordarner]

Listening to the audio will certainly do the trick. He runs through a lot of the big picture explanations of the problems that he was working on with the whiteboard but those aren't primary. By his own telling, all of the problem details are really just to frame the principles that he is communicating.

That being said, I watched with the video. I didn't try to only listen to the audio. So, it might be harder to follow without the visual aspect. And, he randomly pops in the principles. I can't really say that the highlights were only at the beginning or ending of lectures.