The word is "improvise".
You can plan, you can set goals, you can track milestones, (or not, if you follow the article), but at some point you'll hit a crossroads where all you have to go on are your experience and your instincts. And then you'll have to act.
You'll have to improvise.
And to me, these moments of improvisation are where life is at. They're the moments we remember. The moments we tell stories about. The moments when success and failure are born.
Now, the author seems to be living a life of pure improvisation. That's a beautiful thing. However, it's most certainly not a goal-free thing. He's eliminated the "how" (he makes it all up as he goes along) but he hasn't eliminated the "what". He still has goals. He still has wants. Heck, his number one advice is to "follow your passions" -- and what's passion but an overwhelming desire to achieve some goal?
What he really ought to have said is, "Know yourself, know what you want, but don't tear yourself up over the logistics."