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Heralded entangling quantum gates are an essential element for the implementation of large-scale optical quantum computation. Yet, the experimental demonstration of genuine heralded entangling gates with free-flying output photons in linear optical system, was hindered by the intrinsically probabilistic source and double-pair emission in parametric down-conversion. Here, by using an on-demand single-photon source based on a semiconductor quantum dot embedded in a micropillar cavity, we demonstrate a heralded controlled-NOT (CNOT) operati