Heat olive oil in a large skillet over medium high heat. Add garlic and jalapeno, and cook, stirring frequently, until fragrant, about 1 min.
Stir in quinoa, veggie broth, beans, tomato, corn, chili powder, and cumin. Season with salt and pepper to taste. Bring to a boil and cover.. Reduce heat and simmer until quinoa is cooked through, about 20 minutes. Stir in avocado, lime juice, and cilantro.
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