The main difference is that a gerund is a verb form that functions as a noun (e.g. 'swimming is fun'), while an infinitive is the 'to + verb' form that can also function as a noun (e.g. 'to swim is fun').
There is no simple rule, but you can learn common patterns. Verbs like 'enjoy', 'avoid', and 'consider' are typically followed by gerunds, while verbs like 'want', 'need', and 'decide' are followed by infinitives. The best way is to study example sentences and verb patterns.
Context matters in English because the meaning of words can vary based on the surrounding words, phrases, or situation. Words often have multiple meanings, and the intended sense becomes clear through the context in which they are used.
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