Remote assistance authentication

Is anyone familiar with a method to bypass the
authentication screens that pop up on the client approving
Remote Assistance offers? I want to automate the RA
process and take control of the desktop with no
intervention required on the host PC. In other words, the
1st popup says "SoandSo wants to connect to offer RA? Is
that ok?" User says yes. When I go to take control,
popup says "SoandSo wants control. Should we let him?"
They have to click yes again. I basically want to offer
the assistance on my admin machine and directly connect,
like VNC does in a sense.