How do I remove the title bar from my app?

Go to styles.xml and change .DarkActionBar for .NoActionBar

<style name="AppTheme" parent="Theme.AppCompat.Light.DarkActionBar">
        <item name="colorPrimary">@color/colorPrimary</item>
        <item name="colorPrimaryDark">@color/colorPrimaryDark</item>
        <item name="colorAccent">@color/colorAccent</item>
</style>

becomes

<style name="AppTheme" parent="Theme.AppCompat.Light.NoActionBar">
        <item name="colorPrimary">@color/colorPrimary</item>
        <item name="colorPrimaryDark">@color/colorPrimaryDark</item>
        <item name="colorAccent">@color/colorAccent</item>
</style>

if colors are irrelevant to your app, you can actually go for

<style name="AppTheme" parent="Theme.AppCompat.Light.NoActionBar" />