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It is aimed to create soft and deformable microrobots with high bioaffinity, which can perform complex tasks noninvasively in inaccessible small spaces in the body. Herein, the latest research progress of soft microrobots regarding the three cornerstones of this field is reviewed: material, fabrication, and actuation. First, various materials that are used for the fabrication of soft microrobots are summarized, and their characteristics and functions are discussed. Second, various fabrication methods of soft microrobots are introduced, and their applicability to different materials is discussed. Third, the actuation methods of soft microrobots are discussed, as well as their pros, cons, and adaptability. Moreover, the outstanding behaviors of soft microrobots in biomedical and environmental applications are introduced with some typical examples published recently. 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