Meanwhile, brush a grilling pan with oil. Cut the avocado in half removing the pit but leaving the skin. Place face down on grilling pan and grill undisturbed for 3 – 5 minutes, or until grill marks form.
Arrange the beans, arugula, shallots, and carrots evenly between the two rice bowls. Add one avocado half to each bowl.
Remove the skin from avocado right before eating. Serve with a lemon vinaigrette on the side.