Our experiments with Asa H have involved much more input than output. Humans have a couple hundred million rods in their eyes and only a few hundred skeletal muscles. A scientist might be able to read perhaps 100 papers for every one he writes himself. An intelligence in the world simply gets a lot more input than the output it generates. In the lowest layers of the Asa hierarchy overt action is rare. I typically mark those few cases that involve action in order to find them easily.
I am also especially interested in concept formation by AIs (how conceptual knowledge is formed from perceptual inputs) and have spent some time studying that. Such concepts are a kind of "output" but most of my robots can only do what Lego NXT servomotors can do. I would like to upgrade this as well as my input sensors.