Generally noise-resilient quantum gates for trapped ions

We present an entangling gate scheme that achieves high-fidelity operations with excited motional states, despite multiple error sources. While we demonstrate this approach for trapped-ion chains, the underlying principles are applicable to a wide range of quantum computing platforms. Our scheme incorporates all relevant motional modes and exhibits enhanced robustness against both motional heating effects and detuning errors, critical features for building robust and scalable quantum computers.