Just saw the demos, and they look great. Back when I ran this sort of thing I moved from Pis to Android boxes for our own in-house system for SVG support (https://www.flickr.com/photos/ruicarmo/albums/72157643937892...) but often wished I’d had a simpler, more efficient setup.
info-beamer pi (the software that runs in the Pi and drives the output) doesn't expose OpenGL directly at a very low level. Instead it provides a higher level API to draw and move images, fonts and videos around (see https://info-beamer.com/doc/info-beamer#referencemanual for the complete API). So it's indeed similar to Löve. As a programmer you really don't have to know OpenGL to get anything done. Right now info-beamer pi doesn't have SVG support but images and even videos get you pretty far for most effects I can think of.
How good are the Lua bindings for OpenGL ES? Are they as nice as Löve? I tried https://www.mztn.org/rpi/rpi_ljes.html once, but it was a bit fiddly.