Brainâinspired neuromorphic computing is a new paradigm that holds great potential to overcome the intrinsic energy and speed issues of traditional von Neumann based computing architecture. With the ability to perform vectorâmatrix multiplications and flexible tunable conductance, the memristor crossbar array (CBA) structure is one of the most promising candidates to realize neural cognitive systems. The boom in the development of memristive synapses and neurons has propelled the developments of artificial neural networks (ANNs) to emulate the highly hierarchically organized network of human brain in the past decade. To achieve this, realizing large scale, highâdensity memristive CBAs is a prerequisite to constructing complex ANNs. Herein, the stringent requirements in device performance and array parameters for hardware ANNs are analyzed, and the efforts in addressing the associated challenges are discussed. Recent progress on the experimental demonstration of neuromorphic computing systems (NCSs) is presented. Recommendations for further performance optimization at the device, circuit, and algorithm levels are proposed. This Report serves as a guide for the hardware implementation of NCS based on largeâscale CBAs.