Finite Automata on Coursera. Jeff Ullman actively participates in the discussion forums and he [along with Aho] literally wrote the book.
https://www.coursera.org/course/automata
It is typically offered once a year in the late fall.
[Caveat] The course appeals to me for the same reason TAoCP does: it is conceptually rich and no holds barred...by which I mean that technical detail isn't withheld for the sake of infotainment, and as a result it shows me how little I know by exposing the depth of possible human understanding.
