Skip ads from YouTube
You're interested in the Youtube AdAway Xposed Module. It requires root access and the Xposed Framework.

It completely removes the following:


YouTube ads
channel logos
video suggestions
information card teasers


To the best of my knowledge, what you've requested (auto skipping advertisements in the stock Youtube application) cannot be done without root access. Root access is required to 1) draw over other apps and 2) record/replay touches.

See:


Bot Maker for Android
RepiTouch Free
HiroMacro Auto-Touch Macro