Correct me if I'm wrong, but I believe the Nano and Shuffle got refreshed colors yet again. They both got 5 similar colors, and the Nano also added red and black.
Other than that, no, the Shuffle didn't change at all from what it was in the last generation. Just colors. In addition, the OS on the new Nano is available for the previous Nano, so you could say that little changed there except for Nike+ built in and colors.
Furthermore, I don't believe that the iPod Touch gained the A5 like the iPhone 4S. It's not that the A4 is bad, but to represent the iPod Touch as a gaming device and not give it the graphic-loving A5 is absurd. It should be on-par with the iPhone, always. Now it's going to technically be a step behind? Strange, but understandable.
I'm really only upset that they didn't even MENTION the Classic. We were OWED at least that, considering it wasn't mentioned last year at all either. It's a slap in the face that they're selling us something they haven't even uttered a word about in 2 and a half years. It should have gotten a capacity bump or a price drop, if not both.
The only thing I'm unhappy about is the Classic, or the lack of the mention of it. The only thing I want Apple to do is put out something regarding the Classic. Anything. I can honestly say this is the first keynote that's left me unhappy.
The lack of Steve didn't help, but that's another story.