No, you can't boot into ARM code without it. ARM part is disabled power-on, VPU is a general purpose processor really. Basically, on start-up it loads its start.elf (i.e. boot application compiled for its instruction set) from boot-media, initializes some hardware, then loads ARM boot image into common memory, then starts ARM. It also exposes some low-level hardware interface via syscall-type "mailbox" interface.