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Abstract Soft and miniaturized robots possess the capability to operate inside narrow, confined environments. However, powering soft robots inside these environments with on-board batteries or wired connections to external power supplies can significantly restrain their mobility. Similarly, wireless actuation approaches are constrained by near-field actuation, line-of-sight operation, or indiscriminate actuation of many actuators. To provide higher mobility for wireless soft robot to operate inside non-line-of-sight scenarios, we present a radio-frequency system that introduces frequency-selective actuation of liquid crystal elastomer actuators. We create liquid crystalline elastomer actuators with a low actuation temperature and embed them with conductive traces that resonate and heat by selected frequencies of radio-frequency excitation in the 2.40 GHz range. We further develop a wireless actuation platform that infers the wireless channel and beamforms towards the actuator to achieve efficient beamforming. Demonstrations show our system is capable of selectively actuating different actuators while the robot is in motion and obstructed by occlusions.