Make sure the AVR is rated for 4-Ohms. Lower impedance puts more "stress" on the amplifier. (Higher impedance is always OK.)
It MIGHT be OK if you don't push it to maximum loudness and/or it might go into thermal protection and safely shut-down if it overheats, but there's a chance of the AVR being damaged so I'd say "not recommended" if the AVR isn't rated for 4-Ohms
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Some technical background if you want it -
Impedance and resistance (both Ohms) are "the resistance to current flow". With the same voltage you get more current (and more power) with lower impedance and amplifiers "try" to put out voltage that's independent of the load.
If the amplifier can-put out the same voltage (and double the current) you'll get twice the current and twice the wattage with 4-Ohms compared to 8-Ohms.
It's OK if it's "current starved" and can't put-the same voltage, as long as it's rated for the lower impedance.
A 100W light bulb has lower resistance than a 60W bulb. If you connect too many lights you get excess current and the circuit breaker will blow. With nothing plugged-in (or with the light turned-off) you have infinite resistance and no current flows. The voltage is still present.