The ANA Avatar XPRIZE was a four-year competition aiming to develop a robotic "avatar" system that allows a human operator to sense, communicate, and act in a remote environment as if physically present. The competition required judges to 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 metrics. This paper provides a unified summary and analysis of the competition from technical, judging, and organizational perspectives. It examines the use of telerobotics technologies and innovations by competing teams, and correlates these with judges' task performance and subjective ratings. It also summarizes perspectives from team leads, judges, and organizers about the competition's execution and impact. The competition, held from 2018-2022, challenged teams to build a telerobotic "avatar" system that enables human operators to transport their senses, actions, and presence across long distances. Avatars represent the next generation of telecommuting devices that allow operators to not only communicate through audio and video but also navigate and manipulate objects in the remote environment. The competition forced teams to consider how teleoperation could be made accessible to novice users rather than trained experts. In September 2021, 38 teams from 16 countries competed in the XPRIZE Semifinals for a $2 million prize purse. 17 teams from 10 countries competed in the Finals competition in November 2022 for the remaining $8 million prize purse. A robotic avatar is a remotely controlled robotic device capable of representing a person in a location where they are not physically present. These systems typically involve robots that are remotely-controlled by human operators via interfaces that resemble advanced virtual reality devices or vehicle cockpits. Operators can pilot the robots to gather sensed data from and interact with remote environments. The robot can also serve as a virtual physical representation of the human in that environment in the service of telepresence applications. Robotic avatar systems are equipped with a variety of sensors and cameras to enable a remote operator to see, hear, and possibly feel the robot's environment. Manipulators or other tools typically also allow the operator to interact with their environment to some degree. Some robotic avatars are designed to be adaptive to a variety of tasks and environments, while others are specialized in specific tasks. Robotic avatars are increasingly deployed in industrial and healthcare settings to allow people to collaborate remotely. Telerobotics has a long history in robotics with numerous real-world applications in robotic surgery, space exploration, explosive ordnance disposal, search and rescue, and drone operation. Competitions like the DARPA Robotics Challenge have also allowed remote operators to control robots to complete complex search and rescue tasks involving locomotion and manipulation. In recent years, telerobotics has become more practical and accessible due to advances in networking, video transmission, and reductions in robot hardware costs. The ANA Avatar XPRIZE distinguishesThe ANA Avatar XPRIZE was a four-year competition aiming to develop a robotic "avatar" system that allows a human operator to sense, communicate, and act in a remote environment as if physically present. The competition required judges to 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 metrics. This paper provides a unified summary and analysis of the competition from technical, judging, and organizational perspectives. It examines the use of telerobotics technologies and innovations by competing teams, and correlates these with judges' task performance and subjective ratings. It also summarizes perspectives from team leads, judges, and organizers about the competition's execution and impact. The competition, held from 2018-2022, challenged teams to build a telerobotic "avatar" system that enables human operators to transport their senses, actions, and presence across long distances. Avatars represent the next generation of telecommuting devices that allow operators to not only communicate through audio and video but also navigate and manipulate objects in the remote environment. The competition forced teams to consider how teleoperation could be made accessible to novice users rather than trained experts. In September 2021, 38 teams from 16 countries competed in the XPRIZE Semifinals for a $2 million prize purse. 17 teams from 10 countries competed in the Finals competition in November 2022 for the remaining $8 million prize purse. A robotic avatar is a remotely controlled robotic device capable of representing a person in a location where they are not physically present. These systems typically involve robots that are remotely-controlled by human operators via interfaces that resemble advanced virtual reality devices or vehicle cockpits. Operators can pilot the robots to gather sensed data from and interact with remote environments. The robot can also serve as a virtual physical representation of the human in that environment in the service of telepresence applications. Robotic avatar systems are equipped with a variety of sensors and cameras to enable a remote operator to see, hear, and possibly feel the robot's environment. Manipulators or other tools typically also allow the operator to interact with their environment to some degree. Some robotic avatars are designed to be adaptive to a variety of tasks and environments, while others are specialized in specific tasks. Robotic avatars are increasingly deployed in industrial and healthcare settings to allow people to collaborate remotely. Telerobotics has a long history in robotics with numerous real-world applications in robotic surgery, space exploration, explosive ordnance disposal, search and rescue, and drone operation. Competitions like the DARPA Robotics Challenge have also allowed remote operators to control robots to complete complex search and rescue tasks involving locomotion and manipulation. In recent years, telerobotics has become more practical and accessible due to advances in networking, video transmission, and reductions in robot hardware costs. The ANA Avatar XPRIZE distinguishes