Graphene-based actuators featuring fast and reversible deformation under various exteal stimuli are promising for soft robotics.However,these bimorph actuators are incapable of complex and programmable 3D deformation,which limits their practical application.Here,inspired from the collective coupling and coordination of living cells,we fabricated a moisture-responsive graphene actuator swarm that has programmable shape-changing capability by programming the SU-8 pattes undeeath.To get better control over the deformation,we fabricated SU-8 micropatte arrays with specific geometries and orientations on a continuous graphene oxide film,forming a swarm ofbimorph actuators.In this way,predictable and complex deformations,including bending,twisting,coiling,asymmetric bending,3D folding,and combinations of these,have been achieved due to the collective coupling and coordination of the actuator swarm.This work proposes a new way to program the deformation ofbilayer actuators,expanding the capabilities of existing bimorph actuators for applications in various smart devices.