Bring a pot of water to boil.
Add ear of corn, turn off heat, cover, and let sit for 10 minutes.
While corn cooks, shell edamame, if needed.
Remove pit and peel from avocado and place in small mixing bowl.
Add garlic and lime juice; mash with fork.
Add yogurt, and stir well.
Season with salt and pepper to taste.
Remove corn from water, and remove kernels from cob once cooled.
Combine edamame, corn, and red pepper in a medium bowl.
Pour avocado sauce over veggies, and mix well.
Add cilantro, stirring to combine.
Serve, or cover and refrigerate.
When serving. line two plates with baby arugula, and top with a heaping scoop of salad.