I had the opportunity to attend the International Broadcasting Convention last week and I was pleasantly surprised to find a few set top boxes (STB) running Android.
Echostar Europe Android STB
Engadget Writeup of the Echostar Android STB
I also saw a demonstration in the Intel booth of an Android STB. It looked like all of them were running ICS.
While they aren't headless, Android on a STB is pretty cool.