  A simple protocol based on low-weight Pauli Hamiltonians is introduced for
performing quantum gates that are robust to control noise. Gates are
implemented by an adiabatic sequence of single-qubit fields and two-qubit
interactions with a single ancillary qubit, whereas related techniques require
three-qubit interactions, perturbation gadgets, higher dimensional subsystems,
and/or more ancilla qubits. Low-weight interactions and low qubit overhead open
a viable path to experimental investigation, while operation in a degenerate
ground space allows for physical qubit designs that are immune to energy
relaxation. Simulations indicate that two-qubit gate error due to control noise
can be as low as $10^{-5}$, for realizable coupling strengths and time-scales,
with low-frequency noise that is as high as 15% of the control pulse amplitude.
