Trapped-ion two-qubit gates with>99.99% fidelity without ground-state cooling

We introduce the'smooth gate', an entangling method for trapped-ion qubits where residual spin-motion entanglement errors are adiabatically eliminated by ramping the gate detuning. We demonstrate electronically controlled two-qubit gates with an estimated error of $8.4(7)\times10^{-5}$ without ground-state cooling. We further show that the error remains $\lesssim 5\times10^{-4}$ for ions with average phonon occupation up to $\bar{n}=9.4(3)$ on the gate mode. These results indicate that trapped-ion quantum computation can achieve high fidelity at temperatures above the Doppler limit, which enables faster and simpler device operation.