  The ANA Avatar XPRIZE was a four-year competition to develop a robotic
"avatar" system to allow a human operator to sense, communicate, and act in a
remote environment as though physically present. The competition featured a
unique requirement that judges would operate the avatars after less than one
hour of training on the human-machine interfaces, and avatar systems were
judged on both objective and subjective scoring metrics. This paper presents a
unified summary and analysis of the competition from technical, judging, and
organizational perspectives. We study the use of telerobotics technologies and
innovations pursued by the competing teams in their avatar systems, and
correlate the use of these technologies with judges' task performance and
subjective survey ratings. It also summarizes perspectives from team leads,
judges, and organizers about the competition's execution and impact to inform
the future development of telerobotics and telepresence.
