If I'm understanding the article correctly, the only extensions iOS allows are keyboards, document pickers, photo editors, sharing services, widget things, and "action extensions." Assuming the action extensions aren't as catch-all as their name, this seems significantly more limiting than Android's model, where any app can arbitrarily define an intent (e.g. "com.example.calculatething") and send it with arbitrary data to any app that defines itself as catching that intent. These built-in extension types seem fairly encompassing now, but they don't leave much room to expand to future ideas, unlike Android's system.
Can any iOS developers clarify the situation? I've long been an Android fan (I've even written a few apps), but iOS 8 (and its integrations with Yosemite) are very tempting.