Most of the Bonvoy hotels on the peninsula are near the corporate parks and not near downtowns. For walking distance convenience I'd consider staying a bit further away. Perhaps the Seraton Palo Alto or the Westin Palo Alto- both are walking distance a nice shopping center and downtown Palo Alto. Its a 25 minute train ride from Palo Alto to San Mateo, or about a 20 minute drive. (Train station is walking distance from hotel)