Does "charged us to fill in the gaps" mean "give us the task to fill in the gaps"?

Context:

But in one very important sense, Rutherford and Occam are
still honored: as puzzling as the verbal descriptions of these
newly discovered phenomena are, their mathematical represen-
tation invariably turns out to be elegant, unexpectedly simple,
and even beautiful. When I was a graduate student in physical
chemistry at Yale, I had the remarkable experience of taking a
course in relativistic quantum mechanics from Nobel laureate
Willis Lamb. His class style was to work through the theories of
relativity and quantum mechanics from first principles. He did
this entirely from memory but occasionally skipped steps and
charged us, his wide-eyed student admirers, to fill in the gaps
before coming to the next class.