diff --git a/_sp2324/hw4.markdown b/_sp2324/hw4.markdown
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+---
+md_group:       "assignments"
+title:          "Homework 4"
+seq_number:     4
+posted_date:    2024-05-20
+due_date:       2024-06-03  23:59:00
+pdf_link:       "pdfs/homework/hw4.pdf"
+code_link:      "https://github.com/StanfordASL/AA203-Homework/tree/master"
+---
+
+Non-linear MPC, Q-learning, Model-based vs. model-free reinforcement learning.