The grand challenges of contemporary fundamental physics—dark matter, dark energy, vacuum energy, inflation and early universe cosmology, singularities and the hierarchy problem—all involve gravity as a key component. And of all gravitational phenomena, black holes stand out in their elegant simplicity, while harbouring some of the most remarkable predictions of General Relativity: event horizons, singularities and ergoregions. The hitherto invisible landscape of the gravitational Universe is being unveiled before our eyes: the historical direct detection of gravitational waves by the LIGO-Virgo collaboration marks the dawn of a new era of scientific exploration. Gravitational-wave astronomy will allow us to test models of black hole formation, growth and evolution, as well as models of gravitational-wave generation and propagation. It will provide evidence for event horizons and ergoregions, test the theory of General Relativity itself, and may reveal the existence of new fundamental fields. The synthesis of these results has the potential to radically reshape our understanding of the cosmos and of the laws of Nature. The purpose of this work is to present a concise, yet comprehensive overview of the state of the art in the relevant fields of research, summarize important open problems, and lay out a roadmap for future progress. This write-up is an initiative taken within the framework of the European Action on ‘Black holes, Gravitational waves and Fundamental Physics’.

Teleparallel gravity (TG) has significantly increased in popularity in recent decades, bringing attention to Einstein’s other theory of gravity. In this Review, we give a comprehensive introduction to how teleparallel geometry is developed as a gauge theory of translations together with all the other properties of gauge field theory. This relates the geometry to the broader metric-affine approach to forming gravitational theories where we describe a systematic way of constructing consistent teleparallel theories that respect certain physical conditions such as local Lorentz invariance. We first use TG to formulate a teleparallel equivalent of general relativity (GR) which is dynamically equivalent to GR but which may have different behaviors for other scenarios, such as quantum gravity. After setting this foundation, we describe the plethora of modified teleparallel theories of gravity that have been proposed in the literature. We attempt to connect them together into general classes of covariant gravitational theories. Of particular interest, we highlight the recent proposal of a teleparallel analogue of Horndeski gravity which offers the possibility of reviving all of the regular Horndeski contributions. In the second part of the Review, we first survey works in teleparallel astrophysics literature where we focus on the open questions in this regime of physics. We then discuss the cosmological consequences for the various formulations of TG. We do this at background level by exploring works using various approaches ranging from dynamical systems to Noether symmetries, and more. Naturally, we then discuss perturbation theory, firstly by giving a concise approach in which this can be applied in TG theories and then apply it to a number of important theories in the literature. Finally, we examine works in observational and precision cosmology across the plethora of proposal theories. This is done using some of the latest observations and is used to tackle cosmological tensions which may be alleviated in teleparallel cosmology. We also introduce a number of recent works in the application of machine learning to gravity, we do this through deep learning and Gaussian processes, together with discussions about other approaches in the literature.

Horndeski gravity is the most general scalar tensor theory, with a single scalar field, leading to second-order field equations and after the GW170817 it has been severely constrained. Since this theory is very important in modified gravity, it is then worth studying possible similar theories starting from other frameworks. In this paper, we study the analog of Horndeski’s theory in the teleparallel gravity framework where gravity is mediated through torsion instead of curvature. We show that, even though many terms are the same as in the curvature case, we have much richer phenomenology in the teleparallel setting because of the nature of the torsion tensor. Moreover, teleparallel Horndeski contains the standard Horndeski gravity as a subcase and also contains many modified teleparallel theories considered in the past, such as $f(T)$ gravity or teleparallel dark energy. Thus, due to the appearance of a new term in the Lagrangian, this theory can explain dark energy without a cosmological constant, may describe a crossing of the phantom barrier, explain inflation and also solve the tension for $H_0$, making it a good candidate for a correct modified theory of gravity.

Symmetric teleparallel gravity (STG) offers an interesting avenue to formulate a theory of gravitation that relies neither on curvature nor torsion but only on nonmetricity $Q$. Given the growing number of confirmed observations of gravitational waves (GWs) and their use to explore gravitational theories, in this work we investigate the GWs in various extensions of STG, focusing on their speed and polarization. We explore the plethora of theories that this new framework opens up, that is, as general relativity can be modified, so can the symmetric teleparallel equivalent of general relativity (STEGR). In this work, we investigate the fate of GWs in the generalized irreducible decomposition of STEGR, generalizations of the STEGR Lagrangian, $f(Q)$, a scalar field nonminimally coupled to the STEGR Lagrangian, and the general setup of $f(Q,B)$ theory where $B$ is the boundary term difference between the Ricci scalar and the STEGR Lagrangian. Coincidentally, $f(Q,B)$ forms a more general theory than $f(R)$ gravity since $Q$ embodies the second-order elements of the Ricci scalar while $B$ takes on its fourth-order boundary terms. Our work deals mainly with the resulting scalar-vector-tensor polarization modes of the plethora of STG theories, and how they effect their respective speeds of propagation.

We investigate the gravitational waves and their properties in various modified teleparallel theories, such as $f(T)$, $f(T,B)$, and $f(T,T_G)$ gravities. We perform the perturbation analysis both around a Minkowski background and in the case where a cosmological constant is present, and for clarity we use both the metric and the tetrad languages. For $f(T)$ gravity we verify the result that no further polarization modes comparing to general relativity are present at first-order perturbation level, and we show that in order to see extra modes one should look at third-order perturbations. For nontrivial $f(T,B)$ gravity, by examining the geodesic deviation equations, we show that extra polarization models, namely the longitudinal and breathing modes, do appear at first-order perturbation level, and the reason for this behavior is the fact that although the first-order perturbation does not have any effect on $T$, it does affect the boundary term $B$. Finally, for $f(T,T_G)$ gravity we show that at first-order perturbations the gravitational waves exhibit the same behavior as those of $f(T)$ gravity. Since different modified teleparallel theories exhibit different gravitational wave properties, the advancing gravitational-wave astronomy would help to alleviate the degeneracy not only between curvature and torsional modified gravity but also between different subclasses of modified teleparallel gravities.

We investigate the four solar system tests of gravity—perihelion precession, light bending, Shapiro time delay, gravitational redshift—in $f(T)$ gravity. In particular, we investigate the solution derived by Ruggiero and Radicella, Phys. Rev. D 91, 104014 (2015). for a nondiagonal vierbein field for a polynomial $f(T)=T+\alpha T^n$, where $\alpha$ is a constant and $|n|\ne 1$. In this paper, we derive the solutions for each test, in which Weinberg’s, Bodenner and Will’s, Cattani et al., and Rindler and Ishak’s methods are applied, Gravitation and Cosmology: Principles and Applications of the General Theory of Relativity (Wiley, New York, 1972); Am. J. Phys. 71 (2003); Phys. Rev. D 87, 047503 (2013); Phys. Rev. D 76, 043006 (2007). We set a constraint on $\alpha$ for $n=2$, 3 by using data available from literature.