PNIPAm thermosensitive hydrogel (TSH) has attracted a lot of attention from academic scholars due to its smart volumetric phase transition response to external weak stimuli. However, it cannot simultaneously balance and optimize its tensile properties and response speed. Then, we developed LM-TSH with liquid metal (LM) as an additive, and its elongation at break can reach 768%. In this work, LM-TSH and magnetic TSH are combined to develop a double-layer TSH actuator with multi-field response behavior, which realizes the dual actuation response to near-infrared (NIR) light and high-frequency alternating magnetic field. In addition, a TSH soft robot with two-layer structure is designed, which can realize multi-gait behaviors such as jumping, transporting cargos, and crossing the height obstacle in multiple environments.