This report synthesises findings from 11 peer-reviewed papers addressing the following research question: What is the impact of incorporating multimodal inputs (e.g., tactile or proprioceptive data) into LAP's language-action alignment on zero-shot transfer success rates for out-of-distribution robot. 6 claims were extracted from source literature; 6 were independently verified against retrieved documents. An automated multi-reviewer quality assessment produced a score of 8.5/10. This report is a machine-generated literature synthesis and does not constitute original research.Research goal: What is the impact of incorporating multimodal inputs (e.g., tactile or proprioceptive data) into LAP's language-action alignment on zero-shot transfer success rates for out-of-distribution robot morphologies?Autonomous literature synthesis. Automated review score: 8.5/10. Full text and citation available at Assignee Research.