Eligility to appear

Yes, you can straightaway register for CA Inter/IPC under the ‘Direct Entry Scheme’, as you are a member of the ICSI (technically, CS/Cost Inter passed candidates can register directly for CA Inter).
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You will be eligible to start the articled training after passing Group-1 of CA-Inter and on completion of IT Training and Orientation Course.
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There will be no exemption whatsoever from articled training, for candidates with prior work experience or any other qualification.