Wayfinding is the task of orienting and navigating spaces, which can be achieved through intuitive signage, human guides, or technology. This skill is essential for community engagement, but many people aging with vision impairment experience challenges navigating unfamiliar places. We are using an assistive mobile robot, Stretch, to enhance wayfinding for this target population. The robot (WayBot) will provide guidance to users aging with vision impairment to help them learn new spaces through navigation and orientation support.  We will develop and demonstrate wayfinding algorithms, refine the robot’s adaptability, and evaluate its effectiveness as a guide. We aspire to create a general-purpose assistive robot that can navigate places like senior living facilities and other challenging environments, setting the stage for broader applications such as public transit centers, museums, hospitals, and emergency evacuations, ultimately improving autonomy and quality of life for the target population.