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In contrast, biological systems rely on functionally graded materials to distribute stress and optimize performance. Here, we implement hybrid epoxy\u2013acrylate printing (HEAP) to create covalently integrated polymer networks with spatially programmed mechanical properties. HEAP is a multi\u2010wavelength 3D printing strategy that enables control over polymer network architecture within a single resin. We achieve both continuous hardness gradients spanning Shore\u2010A 8 to Shore\u2010D 80. These gradients eliminate weak interfacial boundaries and maintain mechanical integrity under large, repeated strains. Compared to commercial multi\u2010material printing, HEAP reduces interfacial failure by &gt;5\u00d7 while preserving near\u2010intrinsic stretchability of soft domains. This capability enables single\u2010shot fabrication of soft\u2013rigid robotic systems that undergo large, cyclic deformations, including functionally graded pneumatic bellows with integrated tubing interfaces and spatially programmable deformation modes, bioinspired soft robotic hands with embedded bone\u2010like structures, and an augmented undulating walker that achieves more than a twofold increase in locomotion speed relative to an all\u2010soft counterpart. These results establish a generalizable materials and manufacturing framework for mechanically graded polymer systems, enabling robust soft\u2013rigid integration in robotics and beyond.<\/jats:p>","DOI":"10.1002\/adma.75168","type":"journal-article","created":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T12:59:03Z","timestamp":1790686743000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Seamless Mechanical Programming Through Hybrid Epoxy\u2013Acrylate Printing for Soft\u2013Rigid Robots"],"prefix":"10.1002","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-5983-1521","authenticated-orcid":false,"given":"David C.","family":"Bershadsky","sequence":"first","affiliation":[{"name":"Chandra Family Department of Electrical and Computer Engineering The University of Texas at Austin  Austin Texas 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