Plasma-ALE treatment significantly enhances precision and efficiency in programming and reconfiguring soft robotic shapes, facilitating the realization of more complex tasks. To demonstrate this capability, we present three proof-of-concept soft robotic systems constructed with plasma-ALE-treated TMC/CNF actuators: a worm-like robot (Figure , Movie S6), a four-finger-like robot (Figure , Movie S7), and a soft gripper (Figure , Movie S8). Near-infrared (NIR) light serves as the stimulus to selectively heat the TMC/CNF composite, enabling dynamic and versatile shape transformations.