1. A method comprising: receiving a dataflow graph (DFG) for concurrent execution on processing resources coupled to a memory of a data processing system, the DFG representing an executable model of a plurality of model elements corresponding to executable nodes; classifying each of the nodes based on a duration of an internal state of each of the nodes; identifying a first set of nodes as having an infinite duration of states; choosing a second set of nodes classified as having a finite duration of states, wherein the second set includes a plurality of the nodes; pipelining the second set of nodes into parallel branches of the DFG; merging each of the parallel branches of the DFG; unfolding the parallel branches of the second set of nodes according to an unfolding factor; loop scheduling the first set of nodes as additional parallel branches of pipelined nodes of the DFG such that samples produced and consumed by the first set of nodes are matched to the second set of nodes; and concurrently scheduling the first set of nodes and the second set of nodes of the DFG into pipeline stages on the processing resources.