diff --git a/CHANGELOG.md b/CHANGELOG.md
index 668deaba36..c738a7e0a9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -78,6 +78,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/).
   - `TemperatureControllerChatterboxBackend`
 - Add fluorescence reading to Cytation 5 (https://github.com/PyLabRobot/pylabrobot/pull/244)
 - Add `F.linear_tip_spot_generator` and `F.randomized_tip_spot_generator` for looping over tip spots, with caching (https://github.com/PyLabRobot/pylabrobot/pull/256)
+- Add `skip_autoload`, `skip_iswap`, and `skip_core96_head` flags to `STAR.setup` (https://github.com/PyLabRobot/pylabrobot/pull/263)
+- Add `skip_autoload`, `skip_iswap`, and `skip_core96_head` flags to `Vantage.setup` (https://github.com/PyLabRobot/pylabrobot/pull/263)
 
 ### Deprecated
 
diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR.py b/pylabrobot/liquid_handling/backends/hamilton/STAR.py
index 505195d509..63cf32dc90 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/STAR.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/STAR.py
@@ -1215,10 +1215,13 @@ def _parse_response(self, resp: str, fmt: str) -> dict:
     """ Parse a response from the machine. """
     return parse_star_fw_string(resp, fmt)
 
-  async def setup(self):
-    """ setup
+  async def setup(self, skip_autoload=False, skip_iswap=False, skip_core96_head=False):
+    """ Creates a USB connection and finds read/write interfaces.
 
-    Creates a USB connection and finds read/write interfaces.
+    Args:
+      skip_autoload: if True, skip initializing the autoload module, if applicable.
+      skip_iswap: if True, skip initializing the iSWAP module, if applicable.
+      skip_core96_head: if True, skip initializing the CoRe 96 head module, if applicable.
     """
 
     await super().setup()
@@ -1265,14 +1268,14 @@ async def setup(self):
 
     if self.autoload_installed:
       autoload_initialized = await self.request_autoload_initialization_status()
-      if not autoload_initialized:
+      if not autoload_initialized and not skip_autoload:
         await self.initialize_autoload()
 
       await self.park_autoload()
 
     if self.iswap_installed:
       iswap_initialized = await self.request_iswap_initialization_status()
-      if not iswap_initialized:
+      if not iswap_initialized and not skip_iswap:
         await self.initialize_iswap()
 
       await self.park_iswap(minimum_traverse_height_at_beginning_of_a_command=
@@ -1280,7 +1283,7 @@ async def setup(self):
 
     if self.core96_head_installed:
       core96_head_initialized = await self.request_core_96_head_initialization_status()
-      if not core96_head_initialized:
+      if not core96_head_initialized and not skip_core96_head:
         await self.initialize_core_96_head(
           z_position_at_the_command_end=int(self._traversal_height*10))
 
diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py
index 8a35469d36..7aa85285d7 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py
@@ -176,7 +176,7 @@ def __init__(self):
     super().__init__()
     self.commands = []
 
-  async def setup(self) -> None:
+  async def setup(self) -> None:  # type: ignore
     self._num_channels = 8
     self.iswap_installed = True
     self.core96_head_installed = True
diff --git a/pylabrobot/liquid_handling/backends/hamilton/vantage.py b/pylabrobot/liquid_handling/backends/hamilton/vantage.py
index 2f5cfad047..acb00476fa 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/vantage.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/vantage.py
@@ -376,11 +376,9 @@ def _parse_response(self, resp: str, fmt: Dict[str, str]) -> dict:
     """ Parse a firmware response. """
     return parse_vantage_fw_string(resp, fmt)
 
-  async def setup(self):
-    """ setup
-
-    Creates a USB connection and finds read/write interfaces.
-    """
+  async def setup(
+    self, skip_loading_cover: bool = False, skip_core96: bool = False, skip_ipg: bool = False):
+    """ Creates a USB connection and finds read/write interfaces. """
 
     await super().setup()
 
@@ -407,11 +405,11 @@ async def setup(self):
       )
 
     loading_cover_initialized = await self.loading_cover_request_initialization_status()
-    if not loading_cover_initialized:
+    if not loading_cover_initialized and not skip_loading_cover:
       await self.loading_cover_initialize()
 
     core96_initialized = await self.core96_request_initialization_status()
-    if not core96_initialized:
+    if not core96_initialized and not skip_core96:
       await self.core96_initialize(
         x_position=7347, # TODO: get trash location from deck.
         y_position=2684, # TODO: get trash location from deck.
@@ -420,11 +418,12 @@ async def setup(self):
         end_z_deposit_position=2420,
       )
 
-    ipg_initialized = await self.ipg_request_initialization_status()
-    if not ipg_initialized:
-      await self.ipg_initialize()
-    if not await self.ipg_get_parking_status():
-      await self.ipg_park()
+    if not skip_ipg:
+      ipg_initialized = await self.ipg_request_initialization_status()
+      if not ipg_initialized:
+        await self.ipg_initialize()
+      if not await self.ipg_get_parking_status():
+        await self.ipg_park()
 
   @property
   def num_channels(self) -> int:
diff --git a/pylabrobot/liquid_handling/backends/hamilton/vantage_tests.py b/pylabrobot/liquid_handling/backends/hamilton/vantage_tests.py
index 9552d6c1b2..8971625f22 100644
--- a/pylabrobot/liquid_handling/backends/hamilton/vantage_tests.py
+++ b/pylabrobot/liquid_handling/backends/hamilton/vantage_tests.py
@@ -119,7 +119,7 @@ def __init__(self):
     super().__init__()
     self.commands = []
 
-  async def setup(self) -> None:
+  async def setup(self) -> None:  # type: ignore
     self.setup_finished = True
     self._num_channels = 8
     self.iswap_installed = True