This command will show you all packages within your Image Profile that are not Stateless Ready:
Get-EsxSoftwarePackage | ? { $_.StatelessReady -eq $False }
Add/Removing packages from a custom image profile requires you to create a variable referencing that profile. Let me know if you need more specifics. For now I'll assume $customProfile points to your image profile and now you want to remove the non-Auto Deploy friendly packages from it:
Get-EsxSoftwarePackage | ? { $_.StatelessReady -eq $False } | Remove-EsxSoftwarePackage -ImageProfile $customProfile
On the flipside, if you're building a fresh image profile and don't want to add any packages that are not StatelessReady:
Get-EsxSoftwarePackage | ? { $_.StatelessReady } | Add-EsxSoftwarePackage -ImageProfile $customProfile
Hope this helps. I am in the process of creating our PowerCLI scripts for handling our Image Profile building process to create custom ESXi 5.1 images.