From my point of view, the real potential of Firefox OS is not developing applications for Gaia but modifying the system itself. It is true that nowadays Gaia and Gecko suffer from some hard coupling but you have all the code in the web so learn, improve and distribute. This is free software, bro!
The common way to hack Gaia itself in order to replace components such as the keyboard, the homescreen or even the system application is to clone the repository and use make to push your modifications to the device and adb for debugging. But the other day I found a way of doing the same but using Firefox OS simulator. I.e. with no need of pushing to the device!