Soft robots have the potential to adapt their morphologies and behavioral control policies to changing tasks and environments. Inspired by the dynamic plasticity of living organisms and the general adaptability of animals, this talk will discuss several shape-shifting soft robot platforms for multi-task performance and multi-environment locomotion—for example, robotic skins, robotic fabrics, and robots with morphing limbs. The talk will also explore the active material components, such as stretchable electronics and computation, soft actuation, and variable stiffness materials, that enable predictable robot morphology changes. By harnessing these engineered materials and mechanisms, we aim to unlock a wide range of capabilities for increasingly adaptive, evolving robots.