If you call copy-paste programming. They took an "executable", dumped it from the worm's brain, put it in a robot and found it acts like a worm. The behavior emerged through evolution and was encoded in the neurons by nature, not the researchers. If you could dump a human brain, put it in a robot and have it act like a human without ever "reverse engineering" it that would be most impressive.
All of this is true, but the inputs and outputs still have to be mapped to the appropriate endpoints. Unless, of course, mapping them at random still produces the perfect Lego/worm beast after a little bit of real-world action. The article doesn't talk about this, so I'm assuming the sensors and effectors were hooked up to the proper Lego tools by hand.
Which, in my book, counts as programming.