TouchMapper lets you map gamepad data to touch events on the screen without rooting your device. Users of Android TV without touch screens who might wish to play games only accepting touch input could find this software useful.
Running ADB over WiFi would be the easiest approach to maintain a USB linked to the device at all times; else, you will have to keep a computer connected to the device via ADB when you are using the touch mapper.
Included with the programme is a copy of version 3 (GPLv3) GNU General Public Licence. To simplify things, a desktop application exists that does all the necessary actions to execute the adb commands. This is another reason you should utilise it on Android TV.