A method includes accessing, at a computing device, data descriptive of a graph representing a program. The graph includes multiple nodes representing execution steps of the program and includes multiple edges representing data transfer steps. The method also includes determining at least two heterogeneous hardware resources of the computing device that are available to execute code represented by one or more of the nodes, and determining one or more paths from a source node to a sink node based on a topology of the graph. The method further includes scheduling execution of code at the at least two heterogeneous hardware resources. The code is represented by at least one of the multiple nodes, and the execution of the code is scheduled based on the one or more paths.