In a 12-inch skillet, cook pasta according to package directions. Drain; set aside. In the same skillet, cook beef, bell pepper, poblano, and onion over medium heat until meat is browned and vegetables are tender, stirring to break up meat as it cooks. Drain off fat. Add beans, tomatoes, tomato sauce, garlic, paprika, and cumin to meat mixture in skillet. Cook and stir until just boiling. Stir in pasta. Heat through. To serve, divide pasta mixture among four serving plates. Top with avocado, cheese, yogurt, and cilantro.