QKFormer: Hierarchical Spiking Transformer using Q-K Attention - Zhou, Chenlin; Zhang, Han; Zhou, Zhaokun; Yu, Liutao; Huang, Liwei; Fan, Xiaopeng; Yuan, Li; Ma, Zhengyu; Zhou, Huihui; Tian, Yonghong (Advances in Neural Information Processing Systems, 2024)