if livarp is the only OS on your system, you don't really need the 5 seconds waiting for booting. to skip grub, you have to edit the file /etc/default/grub:
sudo vim /etc/default/grub
then replace
GRUB_TIMEOUT=5
by
GRUB_TIMEOUT=0
save and close with ':wq' in vim then actualise GRUB with the command:
sudo update-grub
so, on next boot, grub screen will not be displayed and livarp will be loaded immediatlely.