使用Android的API进行伴侣设备配对可以避免使用Chooser。以下是一个基于Android BLE API的示例代码：

1. 在主设备的代码中添加以下代码段来打开BLE扫描并接收广播信息：

private BluetoothAdapter.LeScanCallback mLeScanCallback = new BluetoothAdapter.LeScanCallback() {
    @Override
    public void onLeScan(final BluetoothDevice device, final int rssi, final byte[] scanRecord) {
        runOnUiThread(new Runnable() {
            @Override
            public void run() {
                // 根据扫描到的广播信息过滤出伴侣设备
                if (isCompanionDevice(scanRecord)) {
                    // 停止扫描
                    mBluetoothAdapter.stopLeScan(mLeScanCallback);
                    // 连接伴侣设备
                    connectToDevice(device);
                }
            }
        });
    }
};

private void startScanning() {
    // 开始BLE扫描
    mBluetoothAdapter.startLeScan(mLeScanCallback);
}

private boolean isCompanionDevice(byte[] scanRecord) {
    // 在这里添加检测伴侣设备的代码
}

private void connectToDevice(BluetoothDevice device) {
    // 在这里添加连接伴侣设备的代码
}

2. 在伴侣设备的代码中添加以下代码段来发送广播信息以获得配对请求：

private final AdvertiseSettings mAdvertisingSettings =
        new AdvertiseSettings.Builder()
                .setAdvertiseMode(AdvertiseSettings.ADVERTISE_MODE_LOW_LATENCY)
                .setConnectable(true)
                .setTimeout(0)
                .setTxPowerLevel(AdvertiseSettings.ADVERTISE_TX_POWER_HIGH)
                .build();

private void startAdvertising() {
    // 构造广播包，并添加伴侣设备信息
    byte[] scanRecord = buildScanRecord(mCompanionDeviceName, mCompanionDeviceId);

    // 开始广播
    mAdvertiser = mBluetoothAdapter.getBluetoothLeAdvertiser();
    mAdvertiser.startAdvertising(mAdvertisingSettings