Combining information from different sensory modalities to execute goal directed actions is a key aspect of human intelligence. Specifically, human agents are very easily able to translate the task communicated in one sensory domain (say vision) into a representation that enables them to complete this task when they can only sense their environment using a separate sensory modality (say touch). In order to build agents with similar capabilities, in this work we consider the problem of a retrieving a target object from a drawer. The agent is provided with an image of a previously unseen object and it explores objects in the drawer using only tactile sensing to retrieve the object that was shown in the image without receiving any visual feedback. Success at this task requires close integration of visual and tactile sensing. We present a method for performing this task in a simulated environment using an anthropomorphic hand. We hope that future research in the direction of combining sensory signals for acting will find the object retrieval from a drawer to be a useful benchmark problem.
This paper is poorly written, and looks like it was not proof-read. 
Presentation of the problem at hand is presented over so many times that it becomes confusing.
Authors ought to better define the image description space of the objects and the haptic space. 
More interesting would have been a good explanation of the different sensors used in the anthropomorphic hand  and the vector built to represent the different sensed objects.
The most expected contribution of this work is barely explained: how the haptic sensors' values/object labels vectors were built and fed to the predictor network, what their values looked like for the various objects, how these vectors clustered for the various objects etc.
Among the many evident weaknesses:
- Domain specific concepts and procedures of most importance to this work are not explained: "... measure various physical properties of objects using the bio-tac sensor using five different exploration procedures (EP)".  Page 3, Paragraph 1. Bio-tac sensor and most importantly exploration procedures (EP) should be presented more clearly.
- Incomplete and out of nowhere sentences are common: "The SHAP procedure
was established for evaluating prosthetic hands and arms. With this idea in mind, prior work (?)
built a prosthetic arm which could ..." Page 4, Paragraph 1.
- Many references are not well introduced and justified: "We then trained the network using
ADAM (Kingma & Ba (2014)) with an initial learning rate set to 1e-4." Page 4, Paragraph 6. In the same paragraph,  authors explain using "The groundtruth predictions were per-channel averaged haptic forces" without having defined those channels (that one can guess but shouldn't). Concepts have to be clearly defined prior to their use.