At Caltech, homework was assigned but had no bearing on your grade. The grades were based on the midterm and final exams.
But not mastering the homework usually resulted in flunking the exams. There were "retch" sessions after each homework assignment that was staffed by a grad student, and the purpose was to help the students understand the homework problems. I knew only one person (Hal Finney) who was so smart he didn't need to do the homework.
I learned the hard way that the path to success was:
1. never miss a lecture, no matter what
2. take notes by hand during lecture
3. do the homework on time, and make sure you understand every problem. Take advantage of the retch sessions.
And that worked for me.