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There aren't any major weaknesses, but there are some additional questions that could be answered and the presentation might be improved a bit.
* More details about the hard-coded demonstration policy should be included. Were different versions of the hard-coded policy tried? How human-like is the hard-coded policy (e.g., how a human would demonstrate for Baxter)? Does the model generalize from any working policy? What about a policy which spends most of its time doing irrelevant or intentionally misleading manipulations? Can a demonstration task be input in a higher level language like the one used throughout the paper (e.g., at line 129)?
* How does this setting relate to question answering or visual question answering?
* How does the model perform on the same train data it's seen already? How much does it overfit?
* How hard is it to find intuitive attention examples as in figure 4?
* The model is somewhat complicated and its presentation in section 4 requires careful reading, perhaps with reference to the supplement. If possible, try to improve this presentation. Replacing some of the natural language description with notation and adding breakout diagrams showing the attention mechanisms might help.
* The related works section would be better understood knowing how the model works, so it should be presented later.
* The model is somewhat complicated and its presentation in section 4 requires careful reading, perhaps with reference to the supplement. If possible, try to improve this presentation. Replacing some of the natural language description with notation and adding breakout diagrams showing the attention mechanisms might help.