Surrogate gradients for analog neuromorphic computing - Cramer, Benjamin; Billaudelle, Sebastian; Kanya, Simeon; Leibfried, Aron; Grübl, Andreas; Karasenko, Vitali; Pehle, Christian; Schreiber, Korbinian; Stradmann, Yannik; Weis, Johannes; Schemmel, Johannes; Zenke, Friedemann (Proceedings of the National Academy of Sciences of the United States of America, 2022)