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The variational quantum eigensolver (VQE) is currently the flagship algorithm for solving electronic structure problems on near-term quantum computers. This hybrid quantum/classical algorithm involves implementing a sequence of parameterized gates on quantum hardware to generate a target quantum state, and then measuring the expectation value of the molecular Hamiltonian. Due to finite coherence times and frequent gate errors, the number of gates that can be implemented remains limited on current quantum devices, preventing accurate applications to systems with significant entanglement, such as strongly correlated molecules. In this work, we propose an alternative algorithm (which we refer to as ctrl-VQE) where the quantum circuit used for state preparation is removed entirely and replaced by a quantum control routine which variationally shapes a pulse to drive the initial Hartree-Fock state to the full CI target state. As with VQE, the objective function optimized is the expectation value of the qubit-mapped molecular Hamiltonian. However, by removing the quantum circuit, the coherence times required for state preparation can be drastically reduced by directly optimizing the pulses. We demonstrate the potential of this method numerically by directly optimizing pulse shapes which accurately model the dissociation curves of the hydrogen molecule (covalent bond) and helium hydride ion (ionic bond), and we compute the single point energy for LiH with four transmons.