Methods, apparatus, and system create and execute non-linear interactive programs comprising action stages. During creation of a non-linear interactive program, output devices do not need to be known in advance, but can be defined according to output device criteria. Based on output devices encountered during execution of a non-linear interactive program, input which may be received from the output devices is determined, as well as input-output criteria. When input is received and input-output criteria are satisfied, output may be produced. In this way, execution of the non-linear interactive program may unfold, adaptively, based on participating output devices and input provided by such devices.