The present disclosure relates to a method for scheduling a computation graph on heterogeneous computing resources. The method comprises generating an augmented computation graph that includes a first set of replica nodes corresponding to a first node in the computation graph and a second set of replica nodes corresponding to a second node in the computation graph, wherein the replica nodes of the first set are connected by edges to the replica nodes of the second set according to dependency between the first node and the second node in the computation graph, adapting the augmented computation graph to include performance values for the edges, the replica nodes of the first set, and the replica nodes of the second set, and determining a path across the adapted computation graph via one replica node of the first set and one replica node of the second set based on the performance values.