Other television drama, like very early shows of
_The Avengers_ in Britain (spy stuff, nothing to
do with superheroes), were acted and broadcast live,
written and set up to suit this obviously.
E.g. an actor leaves one scene and presumably
takes their place in a different set while other
players fill in the time. What I've seen of this
is intriguing. As described, earliest _Doctor Who_
tried to perform this way as much as possible, but
to videotape. Stood were a manageable nuisance.
Wikipedia explains better the still earlier innovation
that I recently heard discussed, in some quite
Similar words, on BBC radio biography _Great Lives_
Simply, they filmed it, in Hollywood, but this was
an expensive advance on performing live in New York
on TV for the U.S. East Coast and Midwest and on
"filmed from the TV" "kinescope" for the West Coast.
Multiple film cameras were present (and an audience),
as in 1960s _Doctor Who_ (TV cameras, no audience),
so a scene was not assembled shot by shot but
performed as a whole, pretty much; dramatically.
I've read material for Doctor Who fans which
I think says they've gone back to "filming"
by shots with one extremely expensive digital
camera, and a collection of articles about
studios used since 1963, each of which is
described as dreadfully constrained in size
compared to the generous expanse of the next,
probably truthfully but it is odd to read it
I haven't got to whether _I Love Lucy_ filmed
in advance to include outdoor locations:
_Doctor Who_ tended to do that on actual film
several months before finishing a story in the
studio... once they stopped trying to put the
show out once a week for most of each year.