You need to get an E3 permit for $125. This is the permit for RAHPs B and allows you to park right in front of the RAHPs B apartments.
As part of the CLASS initiative, all freshmen must live on campus at RPI. I believe circumstances need to be pretty extreme for students to bypass this. I would recommending emailing ResLife to get their official opinion on your particular situation.
Parking on campus requires a parking permit and freshmen are technically are not allowed to have a permit. Once again, if you need a car for a particular reason, check with RPI transportation/parking.