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However, traditional rigid actuators face inherent limitations in size, structural complexity, and application versatility, restricting their use in extreme or multifunctional scenarios. Herein, we develop a multistimulus-coupled soft actuator by vacuum-filtering graphene oxide (GO) and spraying a composite of graphene, polydimethylsiloxane (PDMS), and Fe3O4. The asymmetric bilayer design enables programmable deformation under light, humidity, and magnetic fields, replicating biomimetic motions such as jellyfish swimming, pine-cone closing, and earthworm crawling through tunable stimulus parameters. Notably, a humidity-induced residual deformation compensation mechanism enables near-complete recovery (98.5%) from photothermal bending, overcoming a key limitation in existing multistimulus actuators. This work establishes a humidity-compensated, multistimulus paradigm that bridges nanophotonics, elastomer mechanics, and hydration dynamics for intelligent soft robots.<\/jats:p>","DOI":"10.1021\/acs.nanolett.6c02027","type":"journal-article","created":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T15:21:20Z","timestamp":1784301680000},"page":"9539-9545","source":"Crossref","is-referenced-by-count":0,"title":["Humidity-Compensated\nMulti-Stimuli Soft Actuator with\nAsymmetric Bilayer Design"],"prefix":"10.1021","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9004-8654","authenticated-orcid":true,"given":"Hanpeng","family":"Gao","sequence":"first","affiliation":[{"name":"Yanshan University , , ,","place":["Qinhuangdao, P. R. China, 066004"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tianci","family":"Zhang","sequence":"additional","affiliation":[{"name":"Yanshan University , , ,","place":["Qinhuangdao, P. R. 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