The extreme electric fields created in high-intensity laser-plasma interactions could generate energetic ions far more compactly than traditional accelerators. Despite this promise, laser-plasma accelerator experiments have been limited to maximum ion energies of ∼100 MeV/nucleon. The central challenge is the low charge-to-mass ratio of ions, which has precluded one of the most successful approaches used for electrons: laser wakefield acceleration. Here, we show that a laser pulse with a focal spot that moves transverse to the laser propagation direction enables wakefield acceleration of ions to GeV energies in underdense plasma. Three-dimensional particle-in-cell simulations demonstrate that this relativistic-intensity "transverse flying focus" can trap ions in a comoving electrostatic pocket, producing a monoenergetic collimated ion beam. With a peak intensity of 10^{20} W/cm^{2} and an acceleration distance of 0.44cm, we observe a proton beam with 23.1pC charge, 1.6GeV peak energy, and 3.7% relative energy spread. This approach allows for compact high-repetition-rate production of high-energy ions, highlighting the capability of more generalized spatiotemporal pulse shaping to address open problems in plasma physics.
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