I agree with the article's stance. Purely from a distance standpoint, it's not a bad walk. But in terms of the actual experience on the ground, it's not intuitive, nor is it pleasant. The more direct (Acushnet/MacArthur) literally reeks of fish and feels very industrial (not to mention a little nerve wracking if a truck goes by). The pedestrian bridge route is mostly a better pedestrian experience, but it's a bit longer to reach downtown, and longer still to most of the main sights downtown (waterfront, whaling museum, national historic park, etc.). The Route 6 intersection (the "octopus") is notoriously unfriendly to pedestrians and none of the recent revisions have made it much better.
It's not the least walkable half mile in the world, but for an urban connection between a passenger rail station and a historic New England downtown core, it's pretty bad.
Better signage and bikeshares would help. I think an upgrade to the stretch of Macarthur/Acushnet between the station and Pier 3 (Black Whale) including a widened sidewalk or shared bike/pedestrian path, some trees and landscaping, and better lighting would go a long way to improve the connection as well. But the city should be able to put together a group to get consistent shuttle service going. Between SRTA, the National Park Service, the Seastreak and Cuttyhunk ferries, downtown business organizations, local hotels (LaFrance hospitality operates one, bought a second, and has proposed building a third), etc., there should be a way to fund something straightforward between the station and State Pier.