While the OpenFirmware can't boot off a plain CD-ROM designed for the legacy 16bit BIOS, it didn't take too much hacking before I could get the actual UAE binary to start from the Terminal activity:
sudo mount /dev/scd0 /mnt cd /mnt/Emulation/UAE ./uae -f af_boot.uaerc
You may want to configure the system for the very high resolution of the XO display:
The emulation is fast and smooth. I didn't have much success with the demos, mostly because I was unable to reach an adequate emulation speed on the Geode while running UAE with legacy 680x0 processors, which disables the JIT CPU emulator.