Heat olive oil in a large skillet over medium-high heat. Add garlic and jalapeño, and cook, stirring frequently, until fragrant, about 1 minute or until fragrance changes.
Stir in quinoa, cooked sausage, vegetable broth, beans, tomatoes, corn, chili powder and cumin; season with salt and pepper, to taste. Bring to a boil; cover, reduce heat and simmer until quinoa is cooked through, about 20 minutes.
Stir in avocado, lime juice, and cilantro.