  Coherent gate errors are a concern in many proposed quantum computing
architectures. These errors can be effectively handled through composite pulse
sequences for single-qubit gates, however, such techniques are less feasible
for entangling operations. In this work, we benchmark our coherent errors by
comparing the actual performance of composite single-qubit gates to the
predicted performance based on characterization of individual single-qubit
rotations. We then propose a compilation technique, which we refer to as hidden
inverses, that creates circuits robust to these coherent errors. We present
experimental data showing that these circuits suppress both overrotation and
phase misalignment errors in our trapped ion system.
