The low temperature phase diagram of $^4$He adsorbed on a single graphene sheet is studied by computer simulation of a system comprising nearly thousand helium atoms. In the first layer, two commensurate solid phases are observed, with fillings 1/3 and 7/16 respectively, separated by a domain wall phase, as well as an incommensurate crystal at higher coverage. No evidence of a thermodynamically stable superfliuid phase is found for the first adlayer. Second layer promotion occurs at a coverage of 0.111(4) $AA^{-2}$. In the second layer two phases are observed, namely a superfluid and an incommensurate solid, with no commensurate solid intervening between these two phases. The computed phase diagram closely resembles that predicted for helium on graphite.
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