In a medium sauce pot of boiling water cook the quinoa until tender, about 10 minutes, drain in a fine sieve, rinse under cold water and leave to dry.
Place the smashed garlic, lemon juice, vinegar and some salt in a small bowl and let sit for 30 minutes to an hour stirring occasionally. Remove the garlic and whisk in the olive oil.
Brush the avocados with the oil and place on the grill, cut side down, grill until charred and remove.
Combine all ingredients in a medium mixing bowl and toss well, season with salt and freshly ground black pepper