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Here, we introduce a four\u2010dimensional (4D) printing\u2010enabled magnetic programming strategy that overcomes this challenge by magnetizing magnetically active liquid crystal elastomers (MLCEs) in thermally actuated target states. Digitally prescribed director architectures define deterministic 3D deformations at elevated temperature, which serve as intrinsic programming templates during magnetization under a spatially uniform magnetic field. Upon cooling, relaxation of the thermomechanical deformation transforms the initially uniform magnetization into a complex, spatially varying magnetic profile that encodes the target shape as a magnetically favoured configuration. This approach enables the recovery of thermally defined shapes at room temperature under low magnetic fields and allows bidirectional and multistate actuation via simple reversal of field direction. By integrating spatial magnetic programming with controlled geometric asymmetry, we demonstrate frequency\u2010tunable linear locomotion and chirality\u2010encoded clockwise or anticlockwise rotational motion in multimaterial soft robotic architectures. This strategy decouples magnetic profile complexity from magnetization hardware, providing a scalable, template\u2010free route to fully 3D magnetic programming for soft robotics and untethered actuators operating under low\u2010field conditions.<\/jats:p>","DOI":"10.1002\/adma.202600029","type":"journal-article","created":{"date-parts":[[2026,8,20]],"date-time":"2026-08-20T09:59:17Z","timestamp":1787219957000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Programming of Complex Magnetic Profiles Enforced by 4D Printed Magnetic LCE Actuators"],"prefix":"10.1002","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-6846-9200","authenticated-orcid":false,"given":"Erick R.","family":"Esp\u00edndola\u2010P\u00e9rez","sequence":"first","affiliation":[{"name":"Instituto De Nanociencia y Materiales De Arag\u00f3n (INMA) CSIC\u2010Universidad De Zaragoza  Zaragoza Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0379-0696","authenticated-orcid":false,"given":"Rahul","family":"Goyal","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Medical Research  Heidelberg Germany"},{"name":"Institute for Molecular Systems Engineering and Advanced Materials  Heidelberg Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-4335-5202","authenticated-orcid":false,"given":"Lovish","family":"Gulati","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Medical Research  Heidelberg Germany"},{"name":"Institute for Molecular Systems Engineering and Advanced Materials  Heidelberg Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-1481-3266","authenticated-orcid":false,"given":"Mar\u00eda","family":"L\u00f3pez\u2010Valdeolivas","sequence":"additional","affiliation":[{"name":"Instituto De Nanociencia y Materiales De Arag\u00f3n (INMA) CSIC\u2010Universidad De Zaragoza  Zaragoza Spain"},{"name":"Centro de Investigaci\u00f3n Biom\u00e9dica en Red de Bioingenier\u00eda Biomateriales y Nanomedicina Instituto De Salud Carlos III  Zaragoza Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8600-5958","authenticated-orcid":false,"given":"Peer","family":"Fischer","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Medical Research  Heidelberg Germany"},{"name":"Institute for Molecular Systems Engineering and Advanced Materials  Heidelberg Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3900-2866","authenticated-orcid":false,"given":"Carlos","family":"S\u00e1nchez\u2010Somolinos","sequence":"additional","affiliation":[{"name":"Instituto De Nanociencia y Materiales De Arag\u00f3n (INMA) CSIC\u2010Universidad De Zaragoza  Zaragoza Spain"},{"name":"Centro de Investigaci\u00f3n Biom\u00e9dica en Red de Bioingenier\u00eda Biomateriales y Nanomedicina Instituto De Salud Carlos III  Zaragoza Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,8,20]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.588391"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000186"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202005137"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1021\/acs.chemrev.1c00481"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1021\/acs.chemrev.0c01234"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.matt.2025.102270"},{"key":"e_1_2_8_8_1","volume-title":"Introduction to Magnetic Materials","author":"Cullity B. 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