This paper presents KUKAloha, a teleoperation framework for construction robot arms combining shared-control with autonomous perception. The system uses a leader-follower paradigm where a lightweight guiding arm enables intuitive human control for coarse motion, while an AprilTag-based perception module handles precise alignment and grasping. By separating human guidance from fine manipulation, the framework enhances safety and repeatability when operating large construction manipulators. Experiments on a KUKA robot arm demonstrate reduced operator workload and improved task efficiency for scalable demonstration collection in construction environments.