Template-free 3D programmable magnetization of soft millirobots induced by interlayer stress - Jie Han; Shuideng Wang; Zhiqiang Zheng; Donglei Chen; Wenqi Zhang; Zhi Qu; Mingxing Cheng; Yiqing Yao; Metin Sitti; Lixin Dong (Proceedings of the National Academy of Sciences, 2025)