Brian:
I do not think you can train yourself to NOT need a warm up. The warm up is critical to your best performance. During the warm up many beneficial things are happening. The aerobic metabolic process is slow to respond to increases in intensity. So, you need many minutes to get it firing on all 12 cylinders. Shortcutting the warm up will mean an over reliance on the anaerobic metabolic pathway and probably worse results.
Scott