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The project is called "Tactility" and its website is https://tactility.one/
You can run ELF binary apps directly from an SD card without restarting or flashing the ROM. There's an SDK for building these apps, but I haven't made an official release yet.
I wrote a blog post with some background information: https://bytewelder.com/posts/2025/01/06/tactility-one-year-later.html
Source code and project files: https://github.com/ByteWelder/Tactility
I just picked up one of those lily go systems and am excited
You can find some builds at the bottom of the page here (edit: when logged in) : https://github.com/ByteWelder/Tactility/actions/runs/12659191949 These files expire in 30 days though.