No script doesn't mean there's nothing to go by. The director has ideas and themes he wants to incorporate and explore, an idea of the characters and the world which they inhabit, so that casting, locations etc. can be decided on.
The actors are given some pointers, so while they are given a lot of freedom, they operate within some parameters. Actors in this movie were not given a script, but they were given something. Some were given suggestions for lines, for instance, from which they could choose what felt right for them. They were given character descriptions (of their own character). The lead here, Bale, said he discussed the character with Malick, and that was basically it. The character being an observer, not a talker, a screenwriter who had lost a use of words (along with losing himself apparently), Malick advised Bale not to talk much even when he tried to. So, what actors can do is not random, but they're also not asked to do or say a specific thing in a specific way that the director has in his head. Some actors would rather have a clear idea what they're getting into and what's expected of them, but most seem to love working with Malick. To paraphrase Wes Bentley, you don't get into a Malick movie in order to have your ego massaged. (Especially since you might get cut out of the movie.)
On a day to day basis of filming, the director will allow plenty of freedom and creativity to all involved as there is no "goal" to reach and therefore no "mistakes". The approach is to see what happens. That could also include stuff like actors reacting (verbally or non-verbally) to what other actors say or do that they had no idea would be happening since there was no script to go by (not that a script, when there is one, is always strictly followed either). But again, just because there isn't a specific goal for how individual scenes should play out, there is an idea for the whole movie that the director has.
In the end the director creates the movie he wants in post from the material shot.
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