Yes. If you do not use rmic, they will be generated at runtime, and dynamically downloaded (and you should have an instruction stating you are not allowed to have dynamic downloading).
If you're using Java 5 or higher, there's no need to run the rmic command. I myself did not generate any stub, and got 40 points on the server implementation criteria.
Cheers, Roberto Perillo
SCJP, SCWCD, SCJD, SCBCD
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