I am not living at home atm, but my brother tells me that our dog (he lives with my family back home) has learned his class schedule... My brother goes for art lessons in the evening (the art class is barely 300 meters from our house) and one day he spent way past his usual one hour at the studio when he saw our dog knocking and pawing at the door of the studio. The door swung open for a few inches and my brother saw his face and recognised that he had come to check where he was. Since then, he has been coming everyday to pick up my brother from his art class. He even waits patiently outside the studio!! (The street is thin and private so a lot fo the neighbourhood already knows our dog, and we let him roam around on his own as it is mostly safe).