I read 194-209. I think their approach is fantastic, and it's rare to see such careful thought on this subject. However... nothing struck me as being incompatible with an information IO model?
Their core hypothesis is that you can't separate any kind of agent from their physical capabilities in the environment and still have cognition. That perception and action are not two phases but are an atomic unit of analysis. Perception is action. And what is perceived is not signals but relationships between an organism's capavilities and it's environment.