Coordination of functions in multi-body or multi-component systems requires communication among its parts and is a prerequisite for achieving complex tasks. While electromagnetic (network) communication provides a key ingredient for modern robotics, its molecular equivalent is largely missing for soft robots. With advancements in programmed cargo release, DNA strand-displacement reactions, enzymatic cascades, and genetic circuits, budding solutions to such chemical network communication have emerged with the potential to drive function in soft machines. In order for such chemical communication to be useful, however, new control concepts, (orthogonal) communication protocols, and molecular solutions should be found. Herein, we provide a critical perspective on current state-of-the-art of chemical communication and identify key challenges towards autonomous soft materials, including signal processing, dealing with noise, switching signaling modalities, and limitations in time and length scales that determine material design. Building on an emerging body of examples, we illustrate gaps, synergies, and new concepts that may provide possible solutions to achieve standardized and reliable molecular information exchange for regulating (soft) robotic function.