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Electro-ionic soft actuators based on threedimensional graphitic carbon nitride/nitrogen-doped graphene hybrid electrode with functionally antagonistic properties exhibit large bending strain (0.52%), 2.4 times higher bending displacement, 5 h durability (93% retention), wide frequency response, 2 times higher electro-mechanical efficiency under ±0.5 V input voltage, owing to their functionally antagonistic properties and 3D structures in charge transfer, mechanical integrity and charge storage