Kyle Abraham took us in his arms and invited us in with three intimate pieces danced by his superb A.I.M (Abraham.In.Motion) company at the Balboa Theatre on Thursday. Then, before anyone could get too comfortable, he ignited the stage with the propulsive, hip hop-flavored “Drive.” The program also offered a rare treat: Abraham himself, filling in—in “The Quiet Dance”—for a company member who couldn’t perform that night.

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