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The timeline and instructions for making course changes, including course adds, drops, withdrawals, pass/no pass (P/NP) and voucher elections, can be found at https://www.cmu.edu/hub/registrar/course-changes/. This includes instructions for using vouchers to drop a course or change your grading option to pass/no pass after the standard deadlines have passed.
To see the current add/drop dates, please refer to the most recent academic calendar at https://www.cmu.edu/hub/calendar.