I would say the answer is clearly "yes", because of their insistence on actual physical activities (sensori-motor behaviors), literally being internalized, as the basis of thinking. This would require AI people to gather all the important "sets" of overt behaviors (behavior patterns) AND have them integrally USED in cognitive processes (in the development of those processes).
These viewpoints defy Piaget and defy reality and defy testability/verifiability (because it requires belief in things for which there could ONLY EVER be indirect evidence). Such modern theories have been negatively reviewed and rejected by peers. And, fortunately, gathering such sets of behaviors (those every-one important behavior patterns) is entire unnecessary. Given the likely and potential nature of visual-spacial memory (with the other types of memory also), and given the likelihood of internal representations of aspects of experience and the environment, PER SE, without any new or noteworthy sensori-motor bases, AI need not have this problem.
See my Project which provides an outline for AI, which is more based on direct empirical observation of perceptual and perceptual/attentional patterns ("shifts") AND then on representation (as above), possible with our Memories, and otherwise just involves: associative/dissociative learning.
"Enactment and "embodiment" 'theories are a skewed, stilted "blight" on psychology, in general (also); they are stories, they are fictions.
People, it is all via hypotheticals, based purely on analogies with the sensori-motor focus in infancy (the latter well-demonstrated by Piaget and others), that they (given related basic false assumptions) are compelled to this view. As much as Piaget would have been delighted to continue to "see" sensori-motor activities involved and WOULD HAVE BEEN HAPPY TO speak of) sensori-motor links in later stages: HE DID NOT. He was a constructivist, who very much spoke mainly (if not only) in terms of REPRESENTATION in the Periods after infancy. Any claims to the contrary are revisionist history and false.