The soft actuator made by twisting nylon sewing threads which is in a helical spring shape has shown good mechanical performance in a heating and cooling cycle. By passing a current through a silver coating on the surface of the soft actuator, we can control the actuation. However, the slow cooling rate hinders the application of this actuator. In this work, we present an efficient thermal management technique by using graphene-based materials. Large-area graphene-based materials provided improved cycle performance. The work reveals a promising way for improving the actuation performance of the thermally-actuated soft actuators.