diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index abf33a3..81f3198 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -1245,6 +1245,7 @@
                                 .access = VehiclePropertyAccess::READ,
                                 .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
                         },
+                .initialValue = {.int32Values = {0 /* ClusterHome */, -1 /* ClusterNone */}},
         },
         {
                 .config =
@@ -1253,6 +1254,8 @@
                                 .access = VehiclePropertyAccess::READ,
                                 .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
                         },
+                .initialValue = {.int32Values = {0 /* Off */, -1, -1, -1, -1 /* Bounds */,
+                                                 -1, -1, -1, -1 /* Insets */}},
         },
         {
                 .config =
@@ -1305,6 +1308,9 @@
                                 .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
                                 .configArray = {0, 0, 0, 11, 0, 0, 0, 0, 16},
                         },
+                .initialValue = {.int32Values = {0 /* Off */, -1, -1, -1, -1 /* Bounds */,
+                                                 -1, -1, -1, -1 /* Insets */,
+                                                 0 /* ClusterHome */, -1 /* ClusterNone */}},
         },
         {
                 .config =
@@ -1313,6 +1319,7 @@
                                 .access = VehiclePropertyAccess::READ,
                                 .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
                         },
+                .initialValue = {.int32Values = {0 /* ClusterHome */}},
         },
         {
                 .config =
diff --git a/current.txt b/current.txt
index bdbe1b8..8432791 100644
--- a/current.txt
+++ b/current.txt
@@ -854,7 +854,7 @@
 f22813615be1445ddd817655c054fc69dc9efea56c9035cd0757f3cbed190641 android.hardware.radio.config@1.3::IRadioConfig
 c9ad18729268593d14681d88ffad1c97e707444a45e1b4ed804dab949edbd84f android.hardware.radio.config@1.3::IRadioConfigResponse
 fd43298c43f70130c747a642ee43b0c242ac0cebffb377faa24f2725f0aa6caf android.hardware.tetheroffload.control@1.1::IOffloadControl
-fe18c9032e4063efca3fff3c377dd69780de1f96e8e2bc3f7d100a5d8bd467b4 android.hardware.tetheroffload.control@1.1::ITetheringOffloadCallback
+ead4ec8713a2cb40906fe31ba793d21a6b1190143c446690d16a6ea686aa2fea android.hardware.tetheroffload.control@1.1::ITetheringOffloadCallback
 e34b4c7bec5e032c14804707ca924dd6b99ed5ba139da7505fe7d698d0fe178f android.hardware.tetheroffload.control@1.1::types
 63dfdb433ac73fb2bf4a44d2ade7b7e289e155835206d1939640d6c88d208994 android.hardware.tv.cec@1.1::IHdmiCec
 b9682587677ce9c872e04f0e9fd6c9c78a56ae795c07cbf8c50100e0351d4c44 android.hardware.tv.cec@1.1::IHdmiCecCallback
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl
index 747ee90..8c17841 100644
--- a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl
@@ -34,9 +34,13 @@
 package android.hardware.gnss;
 @VintfStability
 parcelable SatellitePvt {
+  int flags;
   android.hardware.gnss.SatellitePositionEcef satPosEcef;
   android.hardware.gnss.SatelliteVelocityEcef satVelEcef;
   android.hardware.gnss.SatelliteClockInfo satClockInfo;
   double ionoDelayMeters;
   double tropoDelayMeters;
+  const int HAS_POSITION_VELOCITY_CLOCK_INFO = 1;
+  const int HAS_IONO = 2;
+  const int HAS_TROPO = 4;
 }
diff --git a/gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl b/gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl
index 336e927..58f29c5 100644
--- a/gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl
+++ b/gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl
@@ -625,6 +625,17 @@
      * The position and velocity must be in ECEF coordinates.
      *
      * If the data is available, gnssMeasurementFlags must contain HAS_SATELLITE_PVT.
+     *
+     * If SatellitePvt is derived from Broadcast ephemeris, then the position is already w.r.t.
+     * the antenna phase center. However, if SatellitePvt is derived from other modeled orbits,
+     * such as long-term-orbits, or precise orbits, then the orbits may have been computed w.r.t.
+     * the satellite center of mass, and then GNSS vendors are expected to correct for the effect
+     * on different phase centers (can differ by meters) of different GNSS signals (e.g. L1, L5)
+     * on the reported satellite position. Accordingly, we might observe a different satellite
+     * position reported for L1 GnssMeasurement struct compared to L5 GnssMeasurement struct.
+     *
+     * If receivedSvTimeNs is not fully decoded, Satellite PVT could still be reported and
+     * receivedSvTimeNs uncertainty field would be used to provide confidence.
      */
     SatellitePvt satellitePvt;
 
diff --git a/gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl b/gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl
index 844fd1c..4b7d5d6 100644
--- a/gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl
+++ b/gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl
@@ -24,6 +24,14 @@
     /**
      * Satellite hardware code bias of the reported code type w.r.t
      * ionosphere-free measurement in meters.
+     *
+     * When broadcast ephemeris is used, this is the offset caused
+     * by the satellite hardware delays at different frequencies;
+     * e.g. in IS-GPS-705D, this term is described in Section
+     * 20.3.3.3.1.2.1.
+     *
+     * For GPS this term is ~10ns, and affects the satellite position
+     * computation by less than a millimeter.
      */
     double satHardwareCodeBiasMeters;
 
@@ -31,9 +39,20 @@
      * Satellite time correction for ionospheric-free signal measurement
      * (meters). The satellite clock correction for the given signal type
      * = satTimeCorrectionMeters - satHardwareCodeBiasMeters.
+     *
+     * When broadcast ephemeris is used, this is the offset modeled in the
+     * clock terms broadcast over the air by the satellites;
+     * e.g. in IS-GPS-200H, Section 20.3.3.3.3.1, this term is
+     * ∆tsv = af0 + af1(t - toc) + af2(t - toc)^2 + ∆tr.
+     *
+     * If another source of ephemeris is used for SatellitePvt, then the
+     * equivalent value of satTimeCorrection must be provided.
+     *
+     * For GPS this term is ~1ms, and affects the satellite position
+     * computation by ~1m.
      */
     double satTimeCorrectionMeters;
 
     /** Satellite clock drift (meters per second). */
     double satClkDriftMps;
-}
\ No newline at end of file
+}
diff --git a/gnss/aidl/android/hardware/gnss/SatellitePvt.aidl b/gnss/aidl/android/hardware/gnss/SatellitePvt.aidl
index ea55f0c..a238e3f 100644
--- a/gnss/aidl/android/hardware/gnss/SatellitePvt.aidl
+++ b/gnss/aidl/android/hardware/gnss/SatellitePvt.aidl
@@ -16,9 +16,9 @@
 
 package android.hardware.gnss;
 
+import android.hardware.gnss.SatelliteClockInfo;
 import android.hardware.gnss.SatellitePositionEcef;
 import android.hardware.gnss.SatelliteVelocityEcef;
-import android.hardware.gnss.SatelliteClockInfo;
 
 /**
  * Contains estimates of the satellite position, velocity and time in the
@@ -27,6 +27,34 @@
 @VintfStability
 parcelable SatellitePvt {
     /**
+     * Bit mask indicating valid satellite position, velocity and clock info fields are
+     * stored in the SatellitePvt.
+     */
+    const int HAS_POSITION_VELOCITY_CLOCK_INFO = 1 << 0;
+
+    /**
+     * Bit mask indicating a valid iono delay field is stored in the SatellitePvt.
+     */
+    const int HAS_IONO = 1 << 1;
+
+    /**
+     * Bit mask indicating a valid tropo delay field is stored in the SatellitePvt.
+     */
+    const int HAS_TROPO = 1 << 2;
+
+    /**
+     * A bitfield of flags indicating the validity of the fields in this SatellitePvt.
+     * The bit masks are defined in the constants with prefix HAS_*
+     *
+     * Fields for which there is no corresponding flag must be filled in with a valid value.
+     * For convenience, these are marked as mandatory.
+     *
+     * Others fields may have invalid information in them, if not marked as valid by the
+     * corresponding bit in flags.
+     */
+    int flags;
+
+    /**
      * Satellite position in WGS84 ECEF. See comments of
      * SatellitePositionEcef for units.
      */
@@ -46,4 +74,4 @@
 
     /** Tropospheric delay in meters. */
     double tropoDelayMeters;
-}
\ No newline at end of file
+}
diff --git a/gnss/aidl/vts/gnss_hal_test_cases.cpp b/gnss/aidl/vts/gnss_hal_test_cases.cpp
index 0fc2ff8..67ccf52 100644
--- a/gnss/aidl/vts/gnss_hal_test_cases.cpp
+++ b/gnss/aidl/vts/gnss_hal_test_cases.cpp
@@ -38,6 +38,7 @@
 using android::hardware::gnss::IGnssPowerIndication;
 using android::hardware::gnss::IGnssPsds;
 using android::hardware::gnss::PsdsType;
+using android::hardware::gnss::SatellitePvt;
 
 using GnssConstellationTypeAidl = android::hardware::gnss::GnssConstellationType;
 
@@ -128,22 +129,39 @@
                          GnssMeasurement::HAS_SATELLITE_PVT |
                          GnssMeasurement::HAS_CORRELATION_VECTOR));
 
-        if ((measurement.flags & GnssMeasurement::HAS_SATELLITE_PVT) &&
-            (has_capability_satpvt == true)) {
-            ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posXMeters >= -43000000 &&
-                        measurement.satellitePvt.satPosEcef.posXMeters <= 43000000);
-            ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posYMeters >= -43000000 &&
-                        measurement.satellitePvt.satPosEcef.posYMeters <= 43000000);
-            ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posZMeters >= -43000000 &&
-                        measurement.satellitePvt.satPosEcef.posZMeters <= 43000000);
-            ASSERT_TRUE(measurement.satellitePvt.satPosEcef.ureMeters > 0);
-            ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velXMps >= -4000 &&
-                        measurement.satellitePvt.satVelEcef.velXMps <= 4000);
-            ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velYMps >= -4000 &&
-                        measurement.satellitePvt.satVelEcef.velYMps <= 4000);
-            ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velZMps >= -4000 &&
-                        measurement.satellitePvt.satVelEcef.velZMps <= 4000);
-            ASSERT_TRUE(measurement.satellitePvt.satVelEcef.ureRateMps > 0);
+        if (measurement.flags & GnssMeasurement::HAS_SATELLITE_PVT &&
+            has_capability_satpvt == true) {
+            if (measurement.satellitePvt.flags & SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO) {
+                ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posXMeters >= -43000000 &&
+                            measurement.satellitePvt.satPosEcef.posXMeters <= 43000000);
+                ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posYMeters >= -43000000 &&
+                            measurement.satellitePvt.satPosEcef.posYMeters <= 43000000);
+                ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posZMeters >= -43000000 &&
+                            measurement.satellitePvt.satPosEcef.posZMeters <= 43000000);
+                ASSERT_TRUE(measurement.satellitePvt.satPosEcef.ureMeters > 0);
+                ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velXMps >= -4000 &&
+                            measurement.satellitePvt.satVelEcef.velXMps <= 4000);
+                ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velYMps >= -4000 &&
+                            measurement.satellitePvt.satVelEcef.velYMps <= 4000);
+                ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velZMps >= -4000 &&
+                            measurement.satellitePvt.satVelEcef.velZMps <= 4000);
+                ASSERT_TRUE(measurement.satellitePvt.satVelEcef.ureRateMps > 0);
+                ASSERT_TRUE(
+                        measurement.satellitePvt.satClockInfo.satHardwareCodeBiasMeters > -17.869 &&
+                        measurement.satellitePvt.satClockInfo.satHardwareCodeBiasMeters < 17.729);
+                ASSERT_TRUE(measurement.satellitePvt.satClockInfo.satTimeCorrectionMeters > -3e6 &&
+                            measurement.satellitePvt.satClockInfo.satTimeCorrectionMeters < 3e6);
+                ASSERT_TRUE(measurement.satellitePvt.satClockInfo.satClkDriftMps > -1.117 &&
+                            measurement.satellitePvt.satClockInfo.satClkDriftMps < 1.117);
+            }
+            if (measurement.satellitePvt.flags & SatellitePvt::HAS_IONO) {
+                ASSERT_TRUE(measurement.satellitePvt.ionoDelayMeters > 0 &&
+                            measurement.satellitePvt.ionoDelayMeters < 100);
+            }
+            if (measurement.satellitePvt.flags & SatellitePvt::HAS_TROPO) {
+                ASSERT_TRUE(measurement.satellitePvt.tropoDelayMeters > 0 &&
+                            measurement.satellitePvt.tropoDelayMeters < 100);
+            }
         }
 
         if (kIsCorrelationVectorSupported &&
diff --git a/gnss/common/utils/default/Utils.cpp b/gnss/common/utils/default/Utils.cpp
index 9bc6786..569dac4 100644
--- a/gnss/common/utils/default/Utils.cpp
+++ b/gnss/common/utils/default/Utils.cpp
@@ -31,6 +31,7 @@
 using aidl::android::hardware::gnss::GnssMeasurement;
 using aidl::android::hardware::gnss::IGnss;
 using aidl::android::hardware::gnss::IGnssMeasurementCallback;
+using aidl::android::hardware::gnss::SatellitePvt;
 
 using GnssSvFlags = V1_0::IGnssCallback::GnssSvFlags;
 using GnssMeasurementFlagsV1_0 = V1_0::IGnssMeasurementCallback::GnssMeasurementFlags;
@@ -175,7 +176,9 @@
             .fullInterSignalBiasUncertaintyNs = 792.0,
             .satelliteInterSignalBiasNs = 233.9,
             .satelliteInterSignalBiasUncertaintyNs = 921.2,
-            .satellitePvt = {.satPosEcef = {.posXMeters = 10442993.1153328,
+            .satellitePvt = {.flags = SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO |
+                                      SatellitePvt::HAS_IONO | SatellitePvt::HAS_TROPO,
+                             .satPosEcef = {.posXMeters = 10442993.1153328,
                                             .posYMeters = -19926932.8051666,
                                             .posZMeters = -12034295.0216203,
                                             .ureMeters = 1000.2345678},
diff --git a/identity/aidl/default/libeic/EicCbor.c b/identity/aidl/default/libeic/EicCbor.c
index fe131eb..0e2684f 100644
--- a/identity/aidl/default/libeic/EicCbor.c
+++ b/identity/aidl/default/libeic/EicCbor.c
@@ -114,7 +114,7 @@
         data[4] = size & 0xff;
         eicCborAppend(cbor, data, 5);
     } else {
-        data[0] = (majorType << 5) | 24;
+        data[0] = (majorType << 5) | 27;
         data[1] = (((uint64_t)size) >> 56) & 0xff;
         data[2] = (((uint64_t)size) >> 48) & 0xff;
         data[3] = (((uint64_t)size) >> 40) & 0xff;
diff --git a/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/Burst.h b/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/Burst.h
index 7849ca7..8bd2fbe 100644
--- a/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/Burst.h
+++ b/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/Burst.h
@@ -48,6 +48,10 @@
             const nn::OptionalTimePoint& deadline,
             const nn::OptionalDuration& loopTimeoutDuration) const override;
 
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
   private:
     const nn::SharedPreparedModel kPreparedModel;
 };
diff --git a/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/Execution.h b/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/Execution.h
new file mode 100644
index 0000000..e201e25
--- /dev/null
+++ b/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/Execution.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_0_UTILS_EXECUTION_H
+#define ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_0_UTILS_EXECUTION_H
+
+#include <android/hardware/neuralnetworks/1.0/IPreparedModel.h>
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
+#include <nnapi/hal/ProtectCallback.h>
+
+#include "PreparedModel.h"
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+// See hardware/interfaces/neuralnetworks/utils/README.md for more information on HIDL interface
+// lifetimes across processes and for protecting asynchronous calls across HIDL.
+
+namespace android::hardware::neuralnetworks::V1_0::utils {
+
+class Execution final : public nn::IExecution, public std::enable_shared_from_this<Execution> {
+    struct PrivateConstructorTag {};
+
+  public:
+    static nn::GeneralResult<std::shared_ptr<const Execution>> create(
+            std::shared_ptr<const PreparedModel> preparedModel, Request request,
+            hal::utils::RequestRelocation relocation);
+
+    Execution(PrivateConstructorTag tag, std::shared_ptr<const PreparedModel> preparedModel,
+              Request request, hal::utils::RequestRelocation relocation);
+
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> compute(
+            const nn::OptionalTimePoint& deadline) const override;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> computeFenced(
+            const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+            const nn::OptionalDuration& timeoutDurationAfterFence) const override;
+
+  private:
+    const std::shared_ptr<const PreparedModel> kPreparedModel;
+    const Request kRequest;
+    const hal::utils::RequestRelocation kRelocation;
+};
+
+}  // namespace android::hardware::neuralnetworks::V1_0::utils
+
+#endif  // ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_0_UTILS_EXECUTION_H
diff --git a/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/PreparedModel.h b/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/PreparedModel.h
index 8853eea..48be595 100644
--- a/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/PreparedModel.h
+++ b/neuralnetworks/1.0/utils/include/nnapi/hal/1.0/PreparedModel.h
@@ -57,10 +57,17 @@
             const nn::OptionalDuration& loopTimeoutDuration,
             const nn::OptionalDuration& timeoutDurationAfterFence) const override;
 
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
     nn::GeneralResult<nn::SharedBurst> configureExecutionBurst() const override;
 
     std::any getUnderlyingResource() const override;
 
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> executeInternal(
+            const V1_0::Request& request, const hal::utils::RequestRelocation& relocation) const;
+
   private:
     const sp<V1_0::IPreparedModel> kPreparedModel;
     const hal::utils::DeathHandler kDeathHandler;
diff --git a/neuralnetworks/1.0/utils/src/Burst.cpp b/neuralnetworks/1.0/utils/src/Burst.cpp
index e3a9757..1284721 100644
--- a/neuralnetworks/1.0/utils/src/Burst.cpp
+++ b/neuralnetworks/1.0/utils/src/Burst.cpp
@@ -55,4 +55,10 @@
     return kPreparedModel->execute(request, measure, deadline, loopTimeoutDuration);
 }
 
+nn::GeneralResult<nn::SharedExecution> Burst::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+    return kPreparedModel->createReusableExecution(request, measure, loopTimeoutDuration);
+}
+
 }  // namespace android::hardware::neuralnetworks::V1_0::utils
diff --git a/neuralnetworks/1.0/utils/src/Execution.cpp b/neuralnetworks/1.0/utils/src/Execution.cpp
new file mode 100644
index 0000000..7a3216b
--- /dev/null
+++ b/neuralnetworks/1.0/utils/src/Execution.cpp
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "Execution.h"
+
+#include "Callbacks.h"
+#include "Conversions.h"
+#include "Utils.h"
+
+#include <android/hardware/neuralnetworks/1.0/IPreparedModel.h>
+#include <android/hardware/neuralnetworks/1.0/types.h>
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/TypeUtils.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
+#include <nnapi/hal/HandleError.h>
+#include <nnapi/hal/ProtectCallback.h>
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+// See hardware/interfaces/neuralnetworks/utils/README.md for more information on HIDL interface
+// lifetimes across processes and for protecting asynchronous calls across HIDL.
+
+namespace android::hardware::neuralnetworks::V1_0::utils {
+
+nn::GeneralResult<std::shared_ptr<const Execution>> Execution::create(
+        std::shared_ptr<const PreparedModel> preparedModel, Request request,
+        hal::utils::RequestRelocation relocation) {
+    if (preparedModel == nullptr) {
+        return NN_ERROR() << "V1_0::utils::Execution::create must have non-null preparedModel";
+    }
+
+    return std::make_shared<const Execution>(PrivateConstructorTag{}, std::move(preparedModel),
+                                             std::move(request), std::move(relocation));
+}
+
+Execution::Execution(PrivateConstructorTag /*tag*/,
+                     std::shared_ptr<const PreparedModel> preparedModel, Request request,
+                     hal::utils::RequestRelocation relocation)
+    : kPreparedModel(std::move(preparedModel)),
+      kRequest(std::move(request)),
+      kRelocation(std::move(relocation)) {}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> Execution::compute(
+        const nn::OptionalTimePoint& /*deadline*/) const {
+    return kPreparedModel->executeInternal(kRequest, kRelocation);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> Execution::computeFenced(
+        const std::vector<nn::SyncFence>& /*waitFor*/, const nn::OptionalTimePoint& /*deadline*/,
+        const nn::OptionalDuration& /*timeoutDurationAfterFence*/) const {
+    return NN_ERROR(nn::ErrorStatus::GENERAL_FAILURE)
+           << "IExecution::computeFenced is not supported on 1.0 HAL service";
+}
+
+}  // namespace android::hardware::neuralnetworks::V1_0::utils
diff --git a/neuralnetworks/1.0/utils/src/PreparedModel.cpp b/neuralnetworks/1.0/utils/src/PreparedModel.cpp
index 858571d..00970c0 100644
--- a/neuralnetworks/1.0/utils/src/PreparedModel.cpp
+++ b/neuralnetworks/1.0/utils/src/PreparedModel.cpp
@@ -19,6 +19,7 @@
 #include "Burst.h"
 #include "Callbacks.h"
 #include "Conversions.h"
+#include "Execution.h"
 #include "Utils.h"
 
 #include <android/hardware/neuralnetworks/1.0/IPreparedModel.h>
@@ -61,22 +62,35 @@
         const nn::OptionalDuration& /*loopTimeoutDuration*/) const {
     // Ensure that request is ready for IPC.
     std::optional<nn::Request> maybeRequestInShared;
-    const nn::Request& requestInShared = NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::flushDataFromPointerToShared(&request, &maybeRequestInShared)));
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared =
+            NN_TRY(hal::utils::makeExecutionFailure(hal::utils::convertRequestFromPointerToShared(
+                    &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+                    &maybeRequestInShared, &relocation)));
 
     const auto hidlRequest = NN_TRY(hal::utils::makeExecutionFailure(convert(requestInShared)));
 
+    return executeInternal(hidlRequest, relocation);
+}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>
+PreparedModel::executeInternal(const V1_0::Request& request,
+                               const hal::utils::RequestRelocation& relocation) const {
+    if (relocation.input) {
+        relocation.input->flush();
+    }
+
     const auto cb = sp<ExecutionCallback>::make();
     const auto scoped = kDeathHandler.protectCallback(cb.get());
 
-    const auto ret = kPreparedModel->execute(hidlRequest, cb);
+    const auto ret = kPreparedModel->execute(request, cb);
     const auto status = HANDLE_TRANSPORT_FAILURE(ret);
     HANDLE_HAL_STATUS(status) << "execution failed with " << toString(status);
 
     auto result = NN_TRY(cb->get());
-    NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::unflushDataFromSharedToPointer(request, maybeRequestInShared)));
-
+    if (relocation.output) {
+        relocation.output->flush();
+    }
     return result;
 }
 
@@ -91,6 +105,20 @@
            << "IPreparedModel::executeFenced is not supported on 1.0 HAL service";
 }
 
+nn::GeneralResult<nn::SharedExecution> PreparedModel::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming /*measure*/,
+        const nn::OptionalDuration& /*loopTimeoutDuration*/) const {
+    // Ensure that request is ready for IPC.
+    std::optional<nn::Request> maybeRequestInShared;
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared = NN_TRY(hal::utils::convertRequestFromPointerToShared(
+            &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+            &maybeRequestInShared, &relocation));
+
+    auto hidlRequest = NN_TRY(convert(requestInShared));
+    return Execution::create(shared_from_this(), std::move(hidlRequest), std::move(relocation));
+}
+
 nn::GeneralResult<nn::SharedBurst> PreparedModel::configureExecutionBurst() const {
     return Burst::create(shared_from_this());
 }
diff --git a/neuralnetworks/1.0/utils/test/PreparedModelTest.cpp b/neuralnetworks/1.0/utils/test/PreparedModelTest.cpp
index f19ed77..7820c06 100644
--- a/neuralnetworks/1.0/utils/test/PreparedModelTest.cpp
+++ b/neuralnetworks/1.0/utils/test/PreparedModelTest.cpp
@@ -19,6 +19,7 @@
 #include <android/hardware/neuralnetworks/1.0/IExecutionCallback.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <nnapi/IExecution.h>
 #include <nnapi/IPreparedModel.h>
 #include <nnapi/TypeUtils.h>
 #include <nnapi/Types.h>
@@ -224,6 +225,150 @@
     EXPECT_EQ(result.error().code, nn::ErrorStatus::GENERAL_FAILURE);
 }
 
+TEST(PreparedModelTest, reusableExecute) {
+    // setup call
+    const uint32_t kNumberOfComputations = 2;
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, execute(_, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(Invoke(makeExecute(V1_0::ErrorStatus::NONE, V1_0::ErrorStatus::NONE)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute repeatedly
+    for (uint32_t i = 0; i < kNumberOfComputations; i++) {
+        const auto computeResult = createResult.value()->compute({});
+        EXPECT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code
+                                               << ": " << computeResult.error().message;
+    }
+}
+
+TEST(PreparedModelTest, reusableExecuteLaunchError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, execute(_, _))
+            .Times(1)
+            .WillOnce(Invoke(makeExecute(V1_0::ErrorStatus::GENERAL_FAILURE,
+                                         V1_0::ErrorStatus::GENERAL_FAILURE)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteReturnError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, execute(_, _))
+            .Times(1)
+            .WillOnce(Invoke(
+                    makeExecute(V1_0::ErrorStatus::NONE, V1_0::ErrorStatus::GENERAL_FAILURE)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteTransportFailure) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, execute(_, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralTransportFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteDeadObject) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, execute(_, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeDeadObjectFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteCrash) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    const auto ret = [&mockPreparedModel]() -> hardware::Return<V1_0::ErrorStatus> {
+        mockPreparedModel->simulateCrash();
+        return V1_0::ErrorStatus::NONE;
+    };
+    EXPECT_CALL(*mockPreparedModel, execute(_, _)).Times(1).WillOnce(InvokeWithoutArgs(ret));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedNotSupported) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
 TEST(PreparedModelTest, configureExecutionBurst) {
     // setup test
     const auto mockPreparedModel = MockPreparedModel::create();
diff --git a/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/Execution.h b/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/Execution.h
new file mode 100644
index 0000000..9c66446
--- /dev/null
+++ b/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/Execution.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_2_UTILS_EXECUTION_H
+#define ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_2_UTILS_EXECUTION_H
+
+#include <android/hardware/neuralnetworks/1.2/IPreparedModel.h>
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
+#include <nnapi/hal/ProtectCallback.h>
+
+#include "PreparedModel.h"
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+// See hardware/interfaces/neuralnetworks/utils/README.md for more information on HIDL interface
+// lifetimes across processes and for protecting asynchronous calls across HIDL.
+
+namespace android::hardware::neuralnetworks::V1_2::utils {
+
+class Execution final : public nn::IExecution, public std::enable_shared_from_this<Execution> {
+    struct PrivateConstructorTag {};
+
+  public:
+    static nn::GeneralResult<std::shared_ptr<const Execution>> create(
+            std::shared_ptr<const PreparedModel> preparedModel, V1_0::Request request,
+            hal::utils::RequestRelocation relocation, V1_2::MeasureTiming measure);
+
+    Execution(PrivateConstructorTag tag, std::shared_ptr<const PreparedModel> preparedModel,
+              V1_0::Request request, hal::utils::RequestRelocation relocation,
+              V1_2::MeasureTiming measure);
+
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> compute(
+            const nn::OptionalTimePoint& deadline) const override;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> computeFenced(
+            const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+            const nn::OptionalDuration& timeoutDurationAfterFence) const override;
+
+  private:
+    const std::shared_ptr<const PreparedModel> kPreparedModel;
+    const V1_0::Request kRequest;
+    const hal::utils::RequestRelocation kRelocation;
+    const MeasureTiming kMeasure;
+};
+
+}  // namespace android::hardware::neuralnetworks::V1_2::utils
+
+#endif  // ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_2_UTILS_EXECUTION_H
diff --git a/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/ExecutionBurstController.h b/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/ExecutionBurstController.h
index 9669d8c0..dae1ff3 100644
--- a/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/ExecutionBurstController.h
+++ b/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/ExecutionBurstController.h
@@ -28,9 +28,11 @@
 #include <fmq/MessageQueue.h>
 #include <hidl/MQDescriptor.h>
 #include <nnapi/IBurst.h>
+#include <nnapi/IExecution.h>
 #include <nnapi/IPreparedModel.h>
 #include <nnapi/Result.h>
 #include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
 #include <nnapi/hal/ProtectCallback.h>
 
 #include <atomic>
@@ -51,14 +53,14 @@
  * across FMQ, making it appear to the runtime as a regular synchronous inference. Additionally,
  * this class manages the burst's memory cache.
  */
-class ExecutionBurstController final : public nn::IBurst {
+class ExecutionBurstController final
+    : public nn::IBurst,
+      public std::enable_shared_from_this<ExecutionBurstController> {
     struct PrivateConstructorTag {};
 
   public:
-    using FallbackFunction =
-            std::function<nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>(
-                    const nn::Request&, nn::MeasureTiming, const nn::OptionalTimePoint&,
-                    const nn::OptionalDuration&)>;
+    using FallbackFunction = std::function<
+            nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>()>;
 
     /**
      * NN runtime memory cache.
@@ -154,10 +156,10 @@
      * @return ExecutionBurstController Execution burst controller object.
      */
     static nn::GeneralResult<std::shared_ptr<const ExecutionBurstController>> create(
-            const sp<IPreparedModel>& preparedModel, FallbackFunction fallback,
+            nn::SharedPreparedModel preparedModel, const sp<IPreparedModel>& hidlPreparedModel,
             std::chrono::microseconds pollingTimeWindow);
 
-    ExecutionBurstController(PrivateConstructorTag tag, FallbackFunction fallback,
+    ExecutionBurstController(PrivateConstructorTag tag, nn::SharedPreparedModel preparedModel,
                              std::unique_ptr<RequestChannelSender> requestChannelSender,
                              std::unique_ptr<ResultChannelReceiver> resultChannelReceiver,
                              sp<ExecutionBurstCallback> callback, sp<IBurstContext> burstContext,
@@ -173,9 +175,21 @@
             const nn::OptionalTimePoint& deadline,
             const nn::OptionalDuration& loopTimeoutDuration) const override;
 
+    // See IBurst::createReusableExecution for information on this method.
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
+    // If fallback is not nullptr, this method will invoke the fallback function to try another
+    // execution path if the packet could not be sent. Otherwise, failing to send the packet will
+    // result in an error.
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> executeInternal(
+            const std::vector<FmqRequestDatum>& requestPacket,
+            const hal::utils::RequestRelocation& relocation, FallbackFunction fallback) const;
+
   private:
     mutable std::atomic_flag mExecutionInFlight = ATOMIC_FLAG_INIT;
-    const FallbackFunction kFallback;
+    const nn::SharedPreparedModel kPreparedModel;
     const std::unique_ptr<RequestChannelSender> mRequestChannelSender;
     const std::unique_ptr<ResultChannelReceiver> mResultChannelReceiver;
     const sp<ExecutionBurstCallback> mBurstCallback;
diff --git a/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/PreparedModel.h b/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/PreparedModel.h
index fb11130..35abd79 100644
--- a/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/PreparedModel.h
+++ b/neuralnetworks/1.2/utils/include/nnapi/hal/1.2/PreparedModel.h
@@ -58,10 +58,18 @@
             const nn::OptionalDuration& loopTimeoutDuration,
             const nn::OptionalDuration& timeoutDurationAfterFence) const override;
 
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
     nn::GeneralResult<nn::SharedBurst> configureExecutionBurst() const override;
 
     std::any getUnderlyingResource() const override;
 
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> executeInternal(
+            const V1_0::Request& request, MeasureTiming measure,
+            const hal::utils::RequestRelocation& relocation) const;
+
   private:
     nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> executeSynchronously(
             const V1_0::Request& request, MeasureTiming measure) const;
diff --git a/neuralnetworks/1.2/utils/src/Execution.cpp b/neuralnetworks/1.2/utils/src/Execution.cpp
new file mode 100644
index 0000000..18d1c90
--- /dev/null
+++ b/neuralnetworks/1.2/utils/src/Execution.cpp
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "Execution.h"
+
+#include "Callbacks.h"
+#include "Conversions.h"
+#include "Utils.h"
+
+#include <android/hardware/neuralnetworks/1.0/types.h>
+#include <android/hardware/neuralnetworks/1.1/types.h>
+#include <android/hardware/neuralnetworks/1.2/IPreparedModel.h>
+#include <android/hardware/neuralnetworks/1.2/types.h>
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/TypeUtils.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
+#include <nnapi/hal/HandleError.h>
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+// See hardware/interfaces/neuralnetworks/utils/README.md for more information on HIDL interface
+// lifetimes across processes and for protecting asynchronous calls across HIDL.
+
+namespace android::hardware::neuralnetworks::V1_2::utils {
+
+nn::GeneralResult<std::shared_ptr<const Execution>> Execution::create(
+        std::shared_ptr<const PreparedModel> preparedModel, V1_0::Request request,
+        hal::utils::RequestRelocation relocation, V1_2::MeasureTiming measure) {
+    if (preparedModel == nullptr) {
+        return NN_ERROR() << "V1_2::utils::Execution::create must have non-null preparedModel";
+    }
+
+    return std::make_shared<const Execution>(PrivateConstructorTag{}, std::move(preparedModel),
+                                             std::move(request), std::move(relocation), measure);
+}
+
+Execution::Execution(PrivateConstructorTag /*tag*/,
+                     std::shared_ptr<const PreparedModel> preparedModel, V1_0::Request request,
+                     hal::utils::RequestRelocation relocation, V1_2::MeasureTiming measure)
+    : kPreparedModel(std::move(preparedModel)),
+      kRequest(std::move(request)),
+      kRelocation(std::move(relocation)),
+      kMeasure(measure) {}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> Execution::compute(
+        const nn::OptionalTimePoint& /*deadline*/) const {
+    return kPreparedModel->executeInternal(kRequest, kMeasure, kRelocation);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> Execution::computeFenced(
+        const std::vector<nn::SyncFence>& /*waitFor*/, const nn::OptionalTimePoint& /*deadline*/,
+        const nn::OptionalDuration& /*timeoutDurationAfterFence*/) const {
+    return NN_ERROR(nn::ErrorStatus::GENERAL_FAILURE)
+           << "IExecution::computeFenced is not supported on 1.2 HAL service";
+}
+
+}  // namespace android::hardware::neuralnetworks::V1_2::utils
diff --git a/neuralnetworks/1.2/utils/src/ExecutionBurstController.cpp b/neuralnetworks/1.2/utils/src/ExecutionBurstController.cpp
index 7a17f25..b4b6f68 100644
--- a/neuralnetworks/1.2/utils/src/ExecutionBurstController.cpp
+++ b/neuralnetworks/1.2/utils/src/ExecutionBurstController.cpp
@@ -28,6 +28,7 @@
 #include <nnapi/Types.h>
 #include <nnapi/Validation.h>
 #include <nnapi/hal/1.0/Conversions.h>
+#include <nnapi/hal/CommonUtils.h>
 #include <nnapi/hal/HandleError.h>
 #include <nnapi/hal/ProtectCallback.h>
 #include <nnapi/hal/TransferValue.h>
@@ -50,6 +51,35 @@
 namespace android::hardware::neuralnetworks::V1_2::utils {
 namespace {
 
+class BurstExecution final : public nn::IExecution,
+                             public std::enable_shared_from_this<BurstExecution> {
+    struct PrivateConstructorTag {};
+
+  public:
+    static nn::GeneralResult<std::shared_ptr<const BurstExecution>> create(
+            std::shared_ptr<const ExecutionBurstController> controller,
+            std::vector<FmqRequestDatum> request, hal::utils::RequestRelocation relocation,
+            std::vector<ExecutionBurstController::OptionalCacheHold> cacheHolds);
+
+    BurstExecution(PrivateConstructorTag tag,
+                   std::shared_ptr<const ExecutionBurstController> controller,
+                   std::vector<FmqRequestDatum> request, hal::utils::RequestRelocation relocation,
+                   std::vector<ExecutionBurstController::OptionalCacheHold> cacheHolds);
+
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> compute(
+            const nn::OptionalTimePoint& deadline) const override;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> computeFenced(
+            const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+            const nn::OptionalDuration& timeoutDurationAfterFence) const override;
+
+  private:
+    const std::shared_ptr<const ExecutionBurstController> kController;
+    const std::vector<FmqRequestDatum> kRequest;
+    const hal::utils::RequestRelocation kRelocation;
+    const std::vector<ExecutionBurstController::OptionalCacheHold> kCacheHolds;
+};
+
 nn::GeneralResult<sp<IBurstContext>> executionBurstResultCallback(
         V1_0::ErrorStatus status, const sp<IBurstContext>& burstContext) {
     HANDLE_HAL_STATUS(status) << "IPreparedModel::configureExecutionBurst failed with status "
@@ -209,10 +239,10 @@
 // ExecutionBurstController methods
 
 nn::GeneralResult<std::shared_ptr<const ExecutionBurstController>> ExecutionBurstController::create(
-        const sp<V1_2::IPreparedModel>& preparedModel, FallbackFunction fallback,
+        nn::SharedPreparedModel preparedModel, const sp<V1_2::IPreparedModel>& hidlPreparedModel,
         std::chrono::microseconds pollingTimeWindow) {
     // check inputs
-    if (preparedModel == nullptr) {
+    if (preparedModel == nullptr || hidlPreparedModel == nullptr) {
         return NN_ERROR() << "ExecutionBurstController::create passed a nullptr";
     }
 
@@ -236,7 +266,7 @@
     auto cb = hal::utils::CallbackValue(executionBurstResultCallback);
 
     // configure burst
-    const Return<void> ret = preparedModel->configureExecutionBurst(
+    const Return<void> ret = hidlPreparedModel->configureExecutionBurst(
             burstCallback, *requestChannelDescriptor, *resultChannelDescriptor, cb);
     HANDLE_TRANSPORT_FAILURE(ret);
 
@@ -250,18 +280,18 @@
 
     // make and return controller
     return std::make_shared<const ExecutionBurstController>(
-            PrivateConstructorTag{}, std::move(fallback), std::move(requestChannelSender),
+            PrivateConstructorTag{}, std::move(preparedModel), std::move(requestChannelSender),
             std::move(resultChannelReceiver), std::move(burstCallback), std::move(burstContext),
             std::move(memoryCache), std::move(deathHandler));
 }
 
 ExecutionBurstController::ExecutionBurstController(
-        PrivateConstructorTag /*tag*/, FallbackFunction fallback,
+        PrivateConstructorTag /*tag*/, nn::SharedPreparedModel preparedModel,
         std::unique_ptr<RequestChannelSender> requestChannelSender,
         std::unique_ptr<ResultChannelReceiver> resultChannelReceiver,
         sp<ExecutionBurstCallback> callback, sp<IBurstContext> burstContext,
         std::shared_ptr<MemoryCache> memoryCache, neuralnetworks::utils::DeathHandler deathHandler)
-    : kFallback(std::move(fallback)),
+    : kPreparedModel(std::move(preparedModel)),
       mRequestChannelSender(std::move(requestChannelSender)),
       mResultChannelReceiver(std::move(resultChannelReceiver)),
       mBurstCallback(std::move(callback)),
@@ -283,26 +313,98 @@
     // systraces. Note that the first point we can begin collecting systraces in
     // ExecutionBurstServer is when the RequestChannelReceiver realizes there is data in the FMQ, so
     // ExecutionBurstServer collects systraces at different points in the code.
-    NNTRACE_FULL(NNTRACE_LAYER_IPC, NNTRACE_PHASE_EXECUTION, "ExecutionBurstController::execute");
+    NNTRACE_RT(NNTRACE_PHASE_EXECUTION, "ExecutionBurstController::execute");
 
     // if the request is valid but of a higher version than what's supported in burst execution,
     // fall back to another execution path
     if (const auto version = NN_TRY(hal::utils::makeExecutionFailure(nn::validate(request)));
         version > nn::Version::ANDROID_Q) {
         // fallback to another execution path if the packet could not be sent
-        if (kFallback) {
-            return kFallback(request, measure, deadline, loopTimeoutDuration);
-        }
-        return NN_ERROR() << "Request object has features not supported by IBurst::execute";
+        return kPreparedModel->execute(request, measure, deadline, loopTimeoutDuration);
     }
 
+    // ensure that request is ready for IPC
+    std::optional<nn::Request> maybeRequestInShared;
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared =
+            NN_TRY(hal::utils::makeExecutionFailure(hal::utils::convertRequestFromPointerToShared(
+                    &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+                    &maybeRequestInShared, &relocation)));
+
     // clear pools field of request, as they will be provided via slots
-    const auto requestWithoutPools =
-            nn::Request{.inputs = request.inputs, .outputs = request.outputs, .pools = {}};
+    const auto requestWithoutPools = nn::Request{
+            .inputs = requestInShared.inputs, .outputs = requestInShared.outputs, .pools = {}};
     auto hidlRequest = NN_TRY(
             hal::utils::makeExecutionFailure(V1_0::utils::unvalidatedConvert(requestWithoutPools)));
     const auto hidlMeasure = NN_TRY(hal::utils::makeExecutionFailure(convert(measure)));
 
+    std::vector<int32_t> slots;
+    std::vector<OptionalCacheHold> holds;
+    slots.reserve(requestInShared.pools.size());
+    holds.reserve(requestInShared.pools.size());
+    for (const auto& memoryPool : requestInShared.pools) {
+        auto [slot, hold] = mMemoryCache->cacheMemory(std::get<nn::SharedMemory>(memoryPool));
+        slots.push_back(slot);
+        holds.push_back(std::move(hold));
+    }
+
+    // send request packet
+    const auto requestPacket = serialize(hidlRequest, hidlMeasure, slots);
+    const auto fallback = [this, &request, measure, &deadline, &loopTimeoutDuration] {
+        return kPreparedModel->execute(request, measure, deadline, loopTimeoutDuration);
+    };
+    return executeInternal(requestPacket, relocation, fallback);
+}
+
+// See IBurst::createReusableExecution for information on this method.
+nn::GeneralResult<nn::SharedExecution> ExecutionBurstController::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+    NNTRACE_RT(NNTRACE_PHASE_EXECUTION, "ExecutionBurstController::createReusableExecution");
+
+    // if the request is valid but of a higher version than what's supported in burst execution,
+    // fall back to another execution path
+    if (const auto version = NN_TRY(hal::utils::makeGeneralFailure(nn::validate(request)));
+        version > nn::Version::ANDROID_Q) {
+        // fallback to another execution path if the packet could not be sent
+        return kPreparedModel->createReusableExecution(request, measure, loopTimeoutDuration);
+    }
+
+    // ensure that request is ready for IPC
+    std::optional<nn::Request> maybeRequestInShared;
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared = NN_TRY(hal::utils::convertRequestFromPointerToShared(
+            &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+            &maybeRequestInShared, &relocation));
+
+    // clear pools field of request, as they will be provided via slots
+    const auto requestWithoutPools = nn::Request{
+            .inputs = requestInShared.inputs, .outputs = requestInShared.outputs, .pools = {}};
+    auto hidlRequest = NN_TRY(V1_0::utils::unvalidatedConvert(requestWithoutPools));
+    const auto hidlMeasure = NN_TRY(convert(measure));
+
+    std::vector<int32_t> slots;
+    std::vector<OptionalCacheHold> holds;
+    slots.reserve(requestInShared.pools.size());
+    holds.reserve(requestInShared.pools.size());
+    for (const auto& memoryPool : requestInShared.pools) {
+        auto [slot, hold] = mMemoryCache->cacheMemory(std::get<nn::SharedMemory>(memoryPool));
+        slots.push_back(slot);
+        holds.push_back(std::move(hold));
+    }
+
+    const auto requestPacket = serialize(hidlRequest, hidlMeasure, slots);
+    return BurstExecution::create(shared_from_this(), std::move(requestPacket),
+                                  std::move(relocation), std::move(holds));
+}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>
+ExecutionBurstController::executeInternal(const std::vector<FmqRequestDatum>& requestPacket,
+                                          const hal::utils::RequestRelocation& relocation,
+                                          FallbackFunction fallback) const {
+    NNTRACE_FULL(NNTRACE_LAYER_IPC, NNTRACE_PHASE_EXECUTION,
+                 "ExecutionBurstController::executeInternal");
+
     // Ensure that at most one execution is in flight at any given time.
     const bool alreadyInFlight = mExecutionInFlight.test_and_set();
     if (alreadyInFlight) {
@@ -310,22 +412,16 @@
     }
     const auto guard = base::make_scope_guard([this] { mExecutionInFlight.clear(); });
 
-    std::vector<int32_t> slots;
-    std::vector<OptionalCacheHold> holds;
-    slots.reserve(request.pools.size());
-    holds.reserve(request.pools.size());
-    for (const auto& memoryPool : request.pools) {
-        auto [slot, hold] = mMemoryCache->cacheMemory(std::get<nn::SharedMemory>(memoryPool));
-        slots.push_back(slot);
-        holds.push_back(std::move(hold));
+    if (relocation.input) {
+        relocation.input->flush();
     }
 
     // send request packet
-    const auto sendStatus = mRequestChannelSender->send(hidlRequest, hidlMeasure, slots);
+    const auto sendStatus = mRequestChannelSender->sendPacket(requestPacket);
     if (!sendStatus.ok()) {
         // fallback to another execution path if the packet could not be sent
-        if (kFallback) {
-            return kFallback(request, measure, deadline, loopTimeoutDuration);
+        if (fallback) {
+            return fallback();
         }
         return NN_ERROR() << "Error sending FMQ packet: " << sendStatus.error();
     }
@@ -333,7 +429,47 @@
     // get result packet
     const auto [status, outputShapes, timing] =
             NN_TRY(hal::utils::makeExecutionFailure(mResultChannelReceiver->getBlocking()));
+
+    if (relocation.output) {
+        relocation.output->flush();
+    }
     return executionCallback(status, outputShapes, timing);
 }
 
+nn::GeneralResult<std::shared_ptr<const BurstExecution>> BurstExecution::create(
+        std::shared_ptr<const ExecutionBurstController> controller,
+        std::vector<FmqRequestDatum> request, hal::utils::RequestRelocation relocation,
+        std::vector<ExecutionBurstController::OptionalCacheHold> cacheHolds) {
+    if (controller == nullptr) {
+        return NN_ERROR() << "V1_2::utils::BurstExecution::create must have non-null controller";
+    }
+
+    return std::make_shared<const BurstExecution>(PrivateConstructorTag{}, std::move(controller),
+                                                  std::move(request), std::move(relocation),
+                                                  std::move(cacheHolds));
+}
+
+BurstExecution::BurstExecution(PrivateConstructorTag /*tag*/,
+                               std::shared_ptr<const ExecutionBurstController> controller,
+                               std::vector<FmqRequestDatum> request,
+                               hal::utils::RequestRelocation relocation,
+                               std::vector<ExecutionBurstController::OptionalCacheHold> cacheHolds)
+    : kController(std::move(controller)),
+      kRequest(std::move(request)),
+      kRelocation(std::move(relocation)),
+      kCacheHolds(std::move(cacheHolds)) {}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> BurstExecution::compute(
+        const nn::OptionalTimePoint& /*deadline*/) const {
+    return kController->executeInternal(kRequest, kRelocation, /*fallback=*/nullptr);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>
+BurstExecution::computeFenced(const std::vector<nn::SyncFence>& /*waitFor*/,
+                              const nn::OptionalTimePoint& /*deadline*/,
+                              const nn::OptionalDuration& /*timeoutDurationAfterFence*/) const {
+    return NN_ERROR(nn::ErrorStatus::GENERAL_FAILURE)
+           << "IExecution::computeFenced is not supported on burst object";
+}
+
 }  // namespace android::hardware::neuralnetworks::V1_2::utils
diff --git a/neuralnetworks/1.2/utils/src/PreparedModel.cpp b/neuralnetworks/1.2/utils/src/PreparedModel.cpp
index b209a44..d0ef36e 100644
--- a/neuralnetworks/1.2/utils/src/PreparedModel.cpp
+++ b/neuralnetworks/1.2/utils/src/PreparedModel.cpp
@@ -18,6 +18,7 @@
 
 #include "Callbacks.h"
 #include "Conversions.h"
+#include "Execution.h"
 #include "ExecutionBurstController.h"
 #include "ExecutionBurstUtils.h"
 #include "Utils.h"
@@ -93,19 +94,32 @@
         const nn::OptionalDuration& /*loopTimeoutDuration*/) const {
     // Ensure that request is ready for IPC.
     std::optional<nn::Request> maybeRequestInShared;
-    const nn::Request& requestInShared = NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::flushDataFromPointerToShared(&request, &maybeRequestInShared)));
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared =
+            NN_TRY(hal::utils::makeExecutionFailure(hal::utils::convertRequestFromPointerToShared(
+                    &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+                    &maybeRequestInShared, &relocation)));
 
     const auto hidlRequest = NN_TRY(hal::utils::makeExecutionFailure(convert(requestInShared)));
     const auto hidlMeasure = NN_TRY(hal::utils::makeExecutionFailure(convert(measure)));
 
-    auto result = kExecuteSynchronously ? executeSynchronously(hidlRequest, hidlMeasure)
-                                        : executeAsynchronously(hidlRequest, hidlMeasure);
+    return executeInternal(hidlRequest, hidlMeasure, relocation);
+}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>
+PreparedModel::executeInternal(const V1_0::Request& request, MeasureTiming measure,
+                               const hal::utils::RequestRelocation& relocation) const {
+    if (relocation.input) {
+        relocation.input->flush();
+    }
+
+    auto result = kExecuteSynchronously ? executeSynchronously(request, measure)
+                                        : executeAsynchronously(request, measure);
     auto [outputShapes, timing] = NN_TRY(std::move(result));
 
-    NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::unflushDataFromSharedToPointer(request, maybeRequestInShared)));
-
+    if (relocation.output) {
+        relocation.output->flush();
+    }
     return std::make_pair(std::move(outputShapes), timing);
 }
 
@@ -120,6 +134,22 @@
            << "IPreparedModel::executeFenced is not supported on 1.2 HAL service";
 }
 
+nn::GeneralResult<nn::SharedExecution> PreparedModel::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& /*loopTimeoutDuration*/) const {
+    // Ensure that request is ready for IPC.
+    std::optional<nn::Request> maybeRequestInShared;
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared = NN_TRY(hal::utils::convertRequestFromPointerToShared(
+            &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+            &maybeRequestInShared, &relocation));
+
+    auto hidlRequest = NN_TRY(convert(requestInShared));
+    auto hidlMeasure = NN_TRY(convert(measure));
+    return Execution::create(shared_from_this(), std::move(hidlRequest), std::move(relocation),
+                             hidlMeasure);
+}
+
 nn::GeneralResult<nn::SharedBurst> PreparedModel::configureExecutionBurst() const {
     auto self = shared_from_this();
     auto fallback = [preparedModel = std::move(self)](
@@ -130,7 +160,7 @@
         return preparedModel->execute(request, measure, deadline, loopTimeoutDuration);
     };
     const auto pollingTimeWindow = getBurstControllerPollingTimeWindow();
-    return ExecutionBurstController::create(kPreparedModel, std::move(fallback), pollingTimeWindow);
+    return ExecutionBurstController::create(shared_from_this(), kPreparedModel, pollingTimeWindow);
 }
 
 std::any PreparedModel::getUnderlyingResource() const {
diff --git a/neuralnetworks/1.2/utils/test/PreparedModelTest.cpp b/neuralnetworks/1.2/utils/test/PreparedModelTest.cpp
index d297b1a..5e2ad79 100644
--- a/neuralnetworks/1.2/utils/test/PreparedModelTest.cpp
+++ b/neuralnetworks/1.2/utils/test/PreparedModelTest.cpp
@@ -21,6 +21,7 @@
 #include <android/hardware/neuralnetworks/1.2/IExecutionCallback.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <nnapi/IExecution.h>
 #include <nnapi/IPreparedModel.h>
 #include <nnapi/TypeUtils.h>
 #include <nnapi/Types.h>
@@ -334,6 +335,248 @@
     EXPECT_EQ(result.error().code, nn::ErrorStatus::GENERAL_FAILURE);
 }
 
+TEST(PreparedModelTest, reusableExecuteSync) {
+    // setup call
+    const uint32_t kNumberOfComputations = 2;
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously(_, _, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(
+                    Invoke(makeExecuteSynchronously(V1_0::ErrorStatus::NONE, {}, kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute repeatedly
+    for (uint32_t i = 0; i < kNumberOfComputations; i++) {
+        const auto computeResult = createResult.value()->compute({});
+        EXPECT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code
+                                               << ": " << computeResult.error().message;
+    }
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously(_, _, _))
+            .Times(1)
+            .WillOnce(Invoke(
+                    makeExecuteSynchronously(V1_0::ErrorStatus::GENERAL_FAILURE, {}, kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncTransportFailure) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously(_, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralTransportFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncDeadObject) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously(_, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeDeadObjectFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsync) {
+    // setup call
+    const uint32_t kNumberOfComputations = 2;
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_2(_, _, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(Invoke(makeExecuteAsynchronously(
+                    V1_0::ErrorStatus::NONE, V1_0::ErrorStatus::NONE, {}, kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute repeatedly
+    for (uint32_t i = 0; i < kNumberOfComputations; i++) {
+        const auto computeResult = createResult.value()->compute({});
+        EXPECT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code
+                                               << ": " << computeResult.error().message;
+    }
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncLaunchError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_2(_, _, _))
+            .Times(1)
+            .WillOnce(Invoke(makeExecuteAsynchronously(V1_0::ErrorStatus::GENERAL_FAILURE,
+                                                       V1_0::ErrorStatus::GENERAL_FAILURE, {},
+                                                       kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncReturnError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_2(_, _, _))
+            .Times(1)
+            .WillOnce(Invoke(makeExecuteAsynchronously(
+                    V1_0::ErrorStatus::NONE, V1_0::ErrorStatus::GENERAL_FAILURE, {}, kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncTransportFailure) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_2(_, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralTransportFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncDeadObject) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_2(_, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeDeadObjectFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncCrash) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    const auto ret = [&mockPreparedModel]() -> hardware::Return<V1_0::ErrorStatus> {
+        mockPreparedModel->simulateCrash();
+        return V1_0::ErrorStatus::NONE;
+    };
+    EXPECT_CALL(*mockPreparedModel, execute_1_2(_, _, _)).Times(1).WillOnce(InvokeWithoutArgs(ret));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedNotSupported) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
 TEST(PreparedModelTest, configureExecutionBurst) {
     // setup test
     const auto mockPreparedModel = MockPreparedModel::create();
diff --git a/neuralnetworks/1.3/utils/include/nnapi/hal/1.3/Execution.h b/neuralnetworks/1.3/utils/include/nnapi/hal/1.3/Execution.h
new file mode 100644
index 0000000..06c33d4
--- /dev/null
+++ b/neuralnetworks/1.3/utils/include/nnapi/hal/1.3/Execution.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_3_UTILS_EXECUTION_H
+#define ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_3_UTILS_EXECUTION_H
+
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
+
+#include "PreparedModel.h"
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+// See hardware/interfaces/neuralnetworks/utils/README.md for more information on HIDL interface
+// lifetimes across processes and for protecting asynchronous calls across HIDL.
+
+namespace android::hardware::neuralnetworks::V1_3::utils {
+
+class Execution final : public nn::IExecution, public std::enable_shared_from_this<Execution> {
+    struct PrivateConstructorTag {};
+
+  public:
+    static nn::GeneralResult<std::shared_ptr<const Execution>> create(
+            std::shared_ptr<const PreparedModel> preparedModel, Request request,
+            hal::utils::RequestRelocation relocation, V1_2::MeasureTiming measure,
+            OptionalTimeoutDuration loopTimeoutDuration);
+
+    Execution(PrivateConstructorTag tag, std::shared_ptr<const PreparedModel> preparedModel,
+              Request request, hal::utils::RequestRelocation relocation,
+              V1_2::MeasureTiming measure, OptionalTimeoutDuration loopTimeoutDuration);
+
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> compute(
+            const nn::OptionalTimePoint& deadline) const override;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> computeFenced(
+            const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+            const nn::OptionalDuration& timeoutDurationAfterFence) const override;
+
+  private:
+    const std::shared_ptr<const PreparedModel> kPreparedModel;
+    const Request kRequest;
+    const hal::utils::RequestRelocation kRelocation;
+    const V1_2::MeasureTiming kMeasure;
+    const OptionalTimeoutDuration kLoopTimeoutDuration;
+};
+
+}  // namespace android::hardware::neuralnetworks::V1_3::utils
+
+#endif  // ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_1_3_UTILS_EXECUTION_H
diff --git a/neuralnetworks/1.3/utils/include/nnapi/hal/1.3/PreparedModel.h b/neuralnetworks/1.3/utils/include/nnapi/hal/1.3/PreparedModel.h
index 690fecc..5acba71 100644
--- a/neuralnetworks/1.3/utils/include/nnapi/hal/1.3/PreparedModel.h
+++ b/neuralnetworks/1.3/utils/include/nnapi/hal/1.3/PreparedModel.h
@@ -57,10 +57,26 @@
             const nn::OptionalDuration& loopTimeoutDuration,
             const nn::OptionalDuration& timeoutDurationAfterFence) const override;
 
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
     nn::GeneralResult<nn::SharedBurst> configureExecutionBurst() const override;
 
     std::any getUnderlyingResource() const override;
 
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> executeInternal(
+            const Request& request, V1_2::MeasureTiming measure, const OptionalTimePoint& deadline,
+            const OptionalTimeoutDuration& loopTimeoutDuration,
+            const hal::utils::RequestRelocation& relocation) const;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>
+    executeFencedInternal(const Request& request, const hidl_vec<hidl_handle>& waitFor,
+                          V1_2::MeasureTiming measure, const OptionalTimePoint& deadline,
+                          const OptionalTimeoutDuration& loopTimeoutDuration,
+                          const OptionalTimeoutDuration& timeoutDurationAfterFence,
+                          const hal::utils::RequestRelocation& relocation) const;
+
   private:
     nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> executeSynchronously(
             const Request& request, V1_2::MeasureTiming measure, const OptionalTimePoint& deadline,
diff --git a/neuralnetworks/1.3/utils/src/Execution.cpp b/neuralnetworks/1.3/utils/src/Execution.cpp
new file mode 100644
index 0000000..3d17cc3
--- /dev/null
+++ b/neuralnetworks/1.3/utils/src/Execution.cpp
@@ -0,0 +1,84 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "Execution.h"
+
+#include "Conversions.h"
+#include "PreparedModel.h"
+#include "Utils.h"
+
+#include <android/hardware/neuralnetworks/1.0/types.h>
+#include <android/hardware/neuralnetworks/1.1/types.h>
+#include <android/hardware/neuralnetworks/1.2/types.h>
+#include <android/hardware/neuralnetworks/1.3/IPreparedModel.h>
+#include <android/hardware/neuralnetworks/1.3/types.h>
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
+#include <nnapi/hal/HandleError.h>
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+// See hardware/interfaces/neuralnetworks/utils/README.md for more information on HIDL interface
+// lifetimes across processes and for protecting asynchronous calls across HIDL.
+
+namespace android::hardware::neuralnetworks::V1_3::utils {
+
+nn::GeneralResult<std::shared_ptr<const Execution>> Execution::create(
+        std::shared_ptr<const PreparedModel> preparedModel, Request request,
+        hal::utils::RequestRelocation relocation, V1_2::MeasureTiming measure,
+        OptionalTimeoutDuration loopTimeoutDuration) {
+    if (preparedModel == nullptr) {
+        return NN_ERROR() << "V1_3::utils::Execution::create must have non-null preparedModel";
+    }
+
+    return std::make_shared<const Execution>(PrivateConstructorTag{}, std::move(preparedModel),
+                                             std::move(request), std::move(relocation), measure,
+                                             std::move(loopTimeoutDuration));
+}
+
+Execution::Execution(PrivateConstructorTag /*tag*/,
+                     std::shared_ptr<const PreparedModel> preparedModel, Request request,
+                     hal::utils::RequestRelocation relocation, V1_2::MeasureTiming measure,
+                     OptionalTimeoutDuration loopTimeoutDuration)
+    : kPreparedModel(std::move(preparedModel)),
+      kRequest(std::move(request)),
+      kRelocation(std::move(relocation)),
+      kMeasure(measure),
+      kLoopTimeoutDuration(std::move(loopTimeoutDuration)) {}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> Execution::compute(
+        const nn::OptionalTimePoint& deadline) const {
+    const auto hidlDeadline = NN_TRY(hal::utils::makeExecutionFailure(convert(deadline)));
+    return kPreparedModel->executeInternal(kRequest, kMeasure, hidlDeadline, kLoopTimeoutDuration,
+                                           kRelocation);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> Execution::computeFenced(
+        const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+        const nn::OptionalDuration& timeoutDurationAfterFence) const {
+    const auto hidlWaitFor = NN_TRY(hal::utils::convertSyncFences(waitFor));
+    const auto hidlDeadline = NN_TRY(convert(deadline));
+    const auto hidlTimeoutDurationAfterFence = NN_TRY(convert(timeoutDurationAfterFence));
+    return kPreparedModel->executeFencedInternal(kRequest, hidlWaitFor, kMeasure, hidlDeadline,
+                                                 kLoopTimeoutDuration,
+                                                 hidlTimeoutDurationAfterFence, kRelocation);
+}
+
+}  // namespace android::hardware::neuralnetworks::V1_3::utils
diff --git a/neuralnetworks/1.3/utils/src/PreparedModel.cpp b/neuralnetworks/1.3/utils/src/PreparedModel.cpp
index fd7f8f2..1623de5 100644
--- a/neuralnetworks/1.3/utils/src/PreparedModel.cpp
+++ b/neuralnetworks/1.3/utils/src/PreparedModel.cpp
@@ -18,6 +18,7 @@
 
 #include "Callbacks.h"
 #include "Conversions.h"
+#include "Execution.h"
 #include "Utils.h"
 
 #include <android/hardware/neuralnetworks/1.0/types.h>
@@ -139,8 +140,11 @@
         const nn::OptionalDuration& loopTimeoutDuration) const {
     // Ensure that request is ready for IPC.
     std::optional<nn::Request> maybeRequestInShared;
-    const nn::Request& requestInShared = NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::flushDataFromPointerToShared(&request, &maybeRequestInShared)));
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared =
+            NN_TRY(hal::utils::makeExecutionFailure(hal::utils::convertRequestFromPointerToShared(
+                    &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+                    &maybeRequestInShared, &relocation)));
 
     const auto hidlRequest = NN_TRY(hal::utils::makeExecutionFailure(convert(requestInShared)));
     const auto hidlMeasure = NN_TRY(hal::utils::makeExecutionFailure(convert(measure)));
@@ -148,16 +152,27 @@
     const auto hidlLoopTimeoutDuration =
             NN_TRY(hal::utils::makeExecutionFailure(convert(loopTimeoutDuration)));
 
+    return executeInternal(hidlRequest, hidlMeasure, hidlDeadline, hidlLoopTimeoutDuration,
+                           relocation);
+}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>
+PreparedModel::executeInternal(const Request& request, V1_2::MeasureTiming measure,
+                               const OptionalTimePoint& deadline,
+                               const OptionalTimeoutDuration& loopTimeoutDuration,
+                               const hal::utils::RequestRelocation& relocation) const {
+    if (relocation.input) {
+        relocation.input->flush();
+    }
+
     auto result = kExecuteSynchronously
-                          ? executeSynchronously(hidlRequest, hidlMeasure, hidlDeadline,
-                                                 hidlLoopTimeoutDuration)
-                          : executeAsynchronously(hidlRequest, hidlMeasure, hidlDeadline,
-                                                  hidlLoopTimeoutDuration);
+                          ? executeSynchronously(request, measure, deadline, loopTimeoutDuration)
+                          : executeAsynchronously(request, measure, deadline, loopTimeoutDuration);
     auto [outputShapes, timing] = NN_TRY(std::move(result));
 
-    NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::unflushDataFromSharedToPointer(request, maybeRequestInShared)));
-
+    if (relocation.output) {
+        relocation.output->flush();
+    }
     return std::make_pair(std::move(outputShapes), timing);
 }
 
@@ -168,8 +183,10 @@
                              const nn::OptionalDuration& timeoutDurationAfterFence) const {
     // Ensure that request is ready for IPC.
     std::optional<nn::Request> maybeRequestInShared;
-    const nn::Request& requestInShared =
-            NN_TRY(hal::utils::flushDataFromPointerToShared(&request, &maybeRequestInShared));
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared = NN_TRY(hal::utils::convertRequestFromPointerToShared(
+            &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+            &maybeRequestInShared, &relocation));
 
     const auto hidlRequest = NN_TRY(convert(requestInShared));
     const auto hidlWaitFor = NN_TRY(hal::utils::convertSyncFences(waitFor));
@@ -178,27 +195,59 @@
     const auto hidlLoopTimeoutDuration = NN_TRY(convert(loopTimeoutDuration));
     const auto hidlTimeoutDurationAfterFence = NN_TRY(convert(timeoutDurationAfterFence));
 
+    return executeFencedInternal(hidlRequest, hidlWaitFor, hidlMeasure, hidlDeadline,
+                                 hidlLoopTimeoutDuration, hidlTimeoutDurationAfterFence,
+                                 relocation);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>
+PreparedModel::executeFencedInternal(const Request& request, const hidl_vec<hidl_handle>& waitFor,
+                                     V1_2::MeasureTiming measure, const OptionalTimePoint& deadline,
+                                     const OptionalTimeoutDuration& loopTimeoutDuration,
+                                     const OptionalTimeoutDuration& timeoutDurationAfterFence,
+                                     const hal::utils::RequestRelocation& relocation) const {
+    if (relocation.input) {
+        relocation.input->flush();
+    }
+
     auto cb = hal::utils::CallbackValue(fencedExecutionCallback);
 
-    const auto ret = kPreparedModel->executeFenced(hidlRequest, hidlWaitFor, hidlMeasure,
-                                                   hidlDeadline, hidlLoopTimeoutDuration,
-                                                   hidlTimeoutDurationAfterFence, cb);
+    const auto ret =
+            kPreparedModel->executeFenced(request, waitFor, measure, deadline, loopTimeoutDuration,
+                                          timeoutDurationAfterFence, cb);
     HANDLE_TRANSPORT_FAILURE(ret);
     auto [syncFence, callback] = NN_TRY(cb.take());
 
     // If executeFenced required the request memory to be moved into shared memory, block here until
     // the fenced execution has completed and flush the memory back.
-    if (maybeRequestInShared.has_value()) {
+    if (relocation.output) {
         const auto state = syncFence.syncWait({});
         if (state != nn::SyncFence::FenceState::SIGNALED) {
             return NN_ERROR() << "syncWait failed with " << state;
         }
-        NN_TRY(hal::utils::unflushDataFromSharedToPointer(request, maybeRequestInShared));
+        relocation.output->flush();
     }
 
     return std::make_pair(std::move(syncFence), std::move(callback));
 }
 
+nn::GeneralResult<nn::SharedExecution> PreparedModel::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+    // Ensure that request is ready for IPC.
+    std::optional<nn::Request> maybeRequestInShared;
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared = NN_TRY(hal::utils::convertRequestFromPointerToShared(
+            &request, nn::kDefaultRequestMemoryAlignment, nn::kMinMemoryPadding,
+            &maybeRequestInShared, &relocation));
+
+    auto hidlRequest = NN_TRY(convert(requestInShared));
+    auto hidlMeasure = NN_TRY(convert(measure));
+    auto hidlLoopTimeoutDuration = NN_TRY(convert(loopTimeoutDuration));
+    return Execution::create(shared_from_this(), std::move(hidlRequest), std::move(relocation),
+                             hidlMeasure, std::move(hidlLoopTimeoutDuration));
+}
+
 nn::GeneralResult<nn::SharedBurst> PreparedModel::configureExecutionBurst() const {
     auto self = shared_from_this();
     auto fallback = [preparedModel = std::move(self)](
@@ -209,7 +258,7 @@
         return preparedModel->execute(request, measure, deadline, loopTimeoutDuration);
     };
     const auto pollingTimeWindow = V1_2::utils::getBurstControllerPollingTimeWindow();
-    return V1_2::utils::ExecutionBurstController::create(kPreparedModel, std::move(fallback),
+    return V1_2::utils::ExecutionBurstController::create(shared_from_this(), kPreparedModel,
                                                          pollingTimeWindow);
 }
 
diff --git a/neuralnetworks/1.3/utils/test/PreparedModelTest.cpp b/neuralnetworks/1.3/utils/test/PreparedModelTest.cpp
index 5303c2a..6dbbd6b 100644
--- a/neuralnetworks/1.3/utils/test/PreparedModelTest.cpp
+++ b/neuralnetworks/1.3/utils/test/PreparedModelTest.cpp
@@ -22,6 +22,7 @@
 #include <android/hardware/neuralnetworks/1.3/IFencedExecutionCallback.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <nnapi/IExecution.h>
 #include <nnapi/IPreparedModel.h>
 #include <nnapi/TypeUtils.h>
 #include <nnapi/Types.h>
@@ -462,6 +463,363 @@
     EXPECT_EQ(result.error().code, nn::ErrorStatus::DEAD_OBJECT);
 }
 
+TEST(PreparedModelTest, reusableExecuteSync) {
+    // setup call
+    const uint32_t kNumberOfComputations = 2;
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously_1_3(_, _, _, _, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(
+                    Invoke(makeExecuteSynchronously(V1_3::ErrorStatus::NONE, {}, kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute repeatedly
+    for (uint32_t i = 0; i < kNumberOfComputations; i++) {
+        const auto computeResult = createResult.value()->compute({});
+        EXPECT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code
+                                               << ": " << computeResult.error().message;
+    }
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously_1_3(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(Invoke(
+                    makeExecuteSynchronously(V1_3::ErrorStatus::GENERAL_FAILURE, {}, kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncTransportFailure) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously_1_3(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralTransportFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncDeadObject) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously_1_3(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeDeadObjectFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsync) {
+    // setup call
+    const uint32_t kNumberOfComputations = 2;
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_3(_, _, _, _, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(Invoke(makeExecuteAsynchronously(
+                    V1_3::ErrorStatus::NONE, V1_3::ErrorStatus::NONE, {}, kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute repeatedly
+    for (uint32_t i = 0; i < kNumberOfComputations; i++) {
+        const auto computeResult = createResult.value()->compute({});
+        EXPECT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code
+                                               << ": " << computeResult.error().message;
+    }
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncLaunchError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_3(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(Invoke(makeExecuteAsynchronously(V1_3::ErrorStatus::GENERAL_FAILURE,
+                                                       V1_3::ErrorStatus::GENERAL_FAILURE, {},
+                                                       kNoTiming)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncReturnError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_3(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(Invoke(makeExecuteAsynchronously(
+                    V1_3::ErrorStatus::NONE, V1_3::ErrorStatus::GENERAL_FAILURE, {}, kNoTiming)));
+
+    // run test
+    const auto result = preparedModel->execute({}, {}, {}, {});
+
+    // verify result
+    ASSERT_FALSE(result.has_value());
+    EXPECT_EQ(result.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncTransportFailure) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_3(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralTransportFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncDeadObject) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    EXPECT_CALL(*mockPreparedModel, execute_1_3(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeDeadObjectFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteAsyncCrash) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/false).value();
+    const auto ret = [&mockPreparedModel]() -> hardware::Return<V1_3::ErrorStatus> {
+        mockPreparedModel->simulateCrash();
+        return V1_3::ErrorStatus::NONE;
+    };
+    EXPECT_CALL(*mockPreparedModel, execute_1_3(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(ret));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteFenced) {
+    // setup call
+    const uint32_t kNumberOfComputations = 2;
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    const auto mockCallback = MockFencedExecutionCallback::create();
+    EXPECT_CALL(*mockCallback, getExecutionInfo(_))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(Invoke(makeExecuteFencedCallbackReturn(V1_3::ErrorStatus::NONE,
+                                                                   kNoTiming, kNoTiming)));
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(
+                    Invoke(makeExecuteFencedReturn(V1_3::ErrorStatus::NONE, {}, mockCallback)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute repeatedly
+    for (uint32_t i = 0; i < kNumberOfComputations; i++) {
+        const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+        ASSERT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code
+                                               << ": " << computeResult.error().message;
+        const auto& [syncFence, callback] = computeResult.value();
+        EXPECT_EQ(syncFence.syncWait({}), nn::SyncFence::FenceState::SIGNALED);
+        ASSERT_NE(callback, nullptr);
+
+        // get results from callback
+        const auto callbackResult = callback();
+        ASSERT_TRUE(callbackResult.has_value()) << "Failed with " << callbackResult.error().code
+                                                << ": " << callbackResult.error().message;
+    }
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedCallbackError) {
+    // setup call
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    const auto mockCallback = MockFencedExecutionCallback::create();
+    EXPECT_CALL(*mockCallback, getExecutionInfo(_))
+            .Times(1)
+            .WillOnce(Invoke(makeExecuteFencedCallbackReturn(V1_3::ErrorStatus::GENERAL_FAILURE,
+                                                             kNoTiming, kNoTiming)));
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(1)
+            .WillOnce(Invoke(makeExecuteFencedReturn(V1_3::ErrorStatus::NONE, {}, mockCallback)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code << ": "
+                                           << computeResult.error().message;
+    const auto& [syncFence, callback] = computeResult.value();
+    EXPECT_NE(syncFence.syncWait({}), nn::SyncFence::FenceState::ACTIVE);
+    ASSERT_NE(callback, nullptr);
+
+    // verify callback failure
+    const auto callbackResult = callback();
+    ASSERT_FALSE(callbackResult.has_value());
+    EXPECT_EQ(callbackResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedError) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(1)
+            .WillOnce(Invoke(
+                    makeExecuteFencedReturn(V1_3::ErrorStatus::GENERAL_FAILURE, {}, nullptr)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedTransportFailure) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralTransportFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedDeadObject) {
+    // setup test
+    const auto mockPreparedModel = createMockPreparedModel();
+    const auto preparedModel =
+            PreparedModel::create(mockPreparedModel, /*executeSynchronously=*/true).value();
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeDeadObjectFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
 TEST(PreparedModelTest, configureExecutionBurst) {
     // setup test
     const auto mockPreparedModel = MockPreparedModel::create();
diff --git a/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/Burst.h b/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/Burst.h
index 008e4e4..0cc78d4 100644
--- a/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/Burst.h
+++ b/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/Burst.h
@@ -38,7 +38,7 @@
 namespace aidl::android::hardware::neuralnetworks::utils {
 
 // Class that adapts aidl_hal::IBurst to nn::IBurst.
-class Burst final : public nn::IBurst {
+class Burst final : public nn::IBurst, public std::enable_shared_from_this<Burst> {
     struct PrivateConstructorTag {};
 
   public:
@@ -100,6 +100,16 @@
             const nn::OptionalTimePoint& deadline,
             const nn::OptionalDuration& loopTimeoutDuration) const override;
 
+    // See IBurst::createReusableExecution for information.
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> executeInternal(
+            const aidl_hal::Request& request, const std::vector<int64_t>& memoryIdentifierTokens,
+            bool measure, int64_t deadline, int64_t loopTimeoutDuration,
+            const hal::utils::RequestRelocation& relocation) const;
+
   private:
     mutable std::atomic_flag mExecutionInFlight = ATOMIC_FLAG_INIT;
     const std::shared_ptr<aidl_hal::IBurst> kBurst;
diff --git a/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/Execution.h b/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/Execution.h
new file mode 100644
index 0000000..a77ea98
--- /dev/null
+++ b/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/Execution.h
@@ -0,0 +1,65 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_AIDL_UTILS_EXECUTION_H
+#define ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_AIDL_UTILS_EXECUTION_H
+
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
+
+#include "PreparedModel.h"
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+// See hardware/interfaces/neuralnetworks/utils/README.md for more information on HIDL interface
+// lifetimes across processes and for protecting asynchronous calls across HIDL.
+
+namespace aidl::android::hardware::neuralnetworks::utils {
+
+class Execution final : public nn::IExecution, public std::enable_shared_from_this<Execution> {
+    struct PrivateConstructorTag {};
+
+  public:
+    static nn::GeneralResult<std::shared_ptr<const Execution>> create(
+            std::shared_ptr<const PreparedModel> preparedModel, Request request,
+            hal::utils::RequestRelocation relocation, bool measure, int64_t loopTimeoutDuration);
+
+    Execution(PrivateConstructorTag tag, std::shared_ptr<const PreparedModel> preparedModel,
+              Request request, hal::utils::RequestRelocation relocation, bool measure,
+              int64_t loopTimeoutDuration);
+
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> compute(
+            const nn::OptionalTimePoint& deadline) const override;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> computeFenced(
+            const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+            const nn::OptionalDuration& timeoutDurationAfterFence) const override;
+
+  private:
+    const std::shared_ptr<const PreparedModel> kPreparedModel;
+    const Request kRequest;
+    const hal::utils::RequestRelocation kRelocation;
+    const bool kMeasure;
+    const int64_t kLoopTimeoutDuration;
+};
+
+}  // namespace aidl::android::hardware::neuralnetworks::utils
+
+#endif  // ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_AIDL_UTILS_EXECUTION_H
diff --git a/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/PreparedModel.h b/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/PreparedModel.h
index abce6cc..4035764 100644
--- a/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/PreparedModel.h
+++ b/neuralnetworks/aidl/utils/include/nnapi/hal/aidl/PreparedModel.h
@@ -18,6 +18,7 @@
 #define ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_AIDL_UTILS_PREPARED_MODEL_H
 
 #include <aidl/android/hardware/neuralnetworks/IPreparedModel.h>
+#include <aidl/android/hardware/neuralnetworks/Request.h>
 #include <nnapi/IPreparedModel.h>
 #include <nnapi/Result.h>
 #include <nnapi/Types.h>
@@ -34,7 +35,8 @@
 namespace aidl::android::hardware::neuralnetworks::utils {
 
 // Class that adapts aidl_hal::IPreparedModel to nn::IPreparedModel.
-class PreparedModel final : public nn::IPreparedModel {
+class PreparedModel final : public nn::IPreparedModel,
+                            public std::enable_shared_from_this<PreparedModel> {
     struct PrivateConstructorTag {};
 
   public:
@@ -55,10 +57,25 @@
             const nn::OptionalDuration& loopTimeoutDuration,
             const nn::OptionalDuration& timeoutDurationAfterFence) const override;
 
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
     nn::GeneralResult<nn::SharedBurst> configureExecutionBurst() const override;
 
     std::any getUnderlyingResource() const override;
 
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> executeInternal(
+            const Request& request, bool measure, int64_t deadline, int64_t loopTimeoutDuration,
+            const hal::utils::RequestRelocation& relocation) const;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>
+    executeFencedInternal(const Request& request,
+                          const std::vector<ndk::ScopedFileDescriptor>& waitFor, bool measure,
+                          int64_t deadline, int64_t loopTimeoutDuration,
+                          int64_t timeoutDurationAfterFence,
+                          const hal::utils::RequestRelocation& relocation) const;
+
   private:
     const std::shared_ptr<aidl_hal::IPreparedModel> kPreparedModel;
 };
diff --git a/neuralnetworks/aidl/utils/src/Burst.cpp b/neuralnetworks/aidl/utils/src/Burst.cpp
index 0b475bc..87cd0e4 100644
--- a/neuralnetworks/aidl/utils/src/Burst.cpp
+++ b/neuralnetworks/aidl/utils/src/Burst.cpp
@@ -22,6 +22,7 @@
 #include <android-base/logging.h>
 #include <android/binder_auto_utils.h>
 #include <nnapi/IBurst.h>
+#include <nnapi/IExecution.h>
 #include <nnapi/Result.h>
 #include <nnapi/TypeUtils.h>
 #include <nnapi/Types.h>
@@ -35,6 +36,39 @@
 namespace aidl::android::hardware::neuralnetworks::utils {
 namespace {
 
+class BurstExecution final : public nn::IExecution,
+                             public std::enable_shared_from_this<BurstExecution> {
+    struct PrivateConstructorTag {};
+
+  public:
+    static nn::GeneralResult<std::shared_ptr<const BurstExecution>> create(
+            std::shared_ptr<const Burst> burst, Request request,
+            std::vector<int64_t> memoryIdentifierTokens, bool measure, int64_t loopTimeoutDuration,
+            hal::utils::RequestRelocation relocation,
+            std::vector<Burst::OptionalCacheHold> cacheHolds);
+
+    BurstExecution(PrivateConstructorTag tag, std::shared_ptr<const Burst> burst, Request request,
+                   std::vector<int64_t> memoryIdentifierTokens, bool measure,
+                   int64_t loopTimeoutDuration, hal::utils::RequestRelocation relocation,
+                   std::vector<Burst::OptionalCacheHold> cacheHolds);
+
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> compute(
+            const nn::OptionalTimePoint& deadline) const override;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> computeFenced(
+            const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+            const nn::OptionalDuration& timeoutDurationAfterFence) const override;
+
+  private:
+    const std::shared_ptr<const Burst> kBurst;
+    const Request kRequest;
+    const std::vector<int64_t>& kMemoryIdentifierTokens;
+    const bool kMeasure;
+    const int64_t kLoopTimeoutDuration;
+    const hal::utils::RequestRelocation kRelocation;
+    const std::vector<Burst::OptionalCacheHold> kCacheHolds;
+};
+
 nn::GeneralResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> convertExecutionResults(
         const std::vector<OutputShape>& outputShapes, const Timing& timing) {
     return std::make_pair(NN_TRY(nn::convert(outputShapes)), NN_TRY(nn::convert(timing)));
@@ -139,17 +173,13 @@
         const nn::Request& request, nn::MeasureTiming measure,
         const nn::OptionalTimePoint& deadline,
         const nn::OptionalDuration& loopTimeoutDuration) const {
-    // Ensure that at most one execution is in flight at any given time.
-    const bool alreadyInFlight = mExecutionInFlight.test_and_set();
-    if (alreadyInFlight) {
-        return NN_ERROR() << "IBurst already has an execution in flight";
-    }
-    const auto guard = ::android::base::make_scope_guard([this] { mExecutionInFlight.clear(); });
-
     // Ensure that request is ready for IPC.
     std::optional<nn::Request> maybeRequestInShared;
-    const nn::Request& requestInShared = NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::flushDataFromPointerToShared(&request, &maybeRequestInShared)));
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared =
+            NN_TRY(hal::utils::makeExecutionFailure(hal::utils::convertRequestFromPointerToShared(
+                    &request, nn::kDefaultRequestMemoryAlignment, nn::kDefaultRequestMemoryPadding,
+                    &maybeRequestInShared, &relocation)));
 
     const auto aidlRequest = NN_TRY(hal::utils::makeExecutionFailure(convert(requestInShared)));
     const auto aidlMeasure = NN_TRY(hal::utils::makeExecutionFailure(convert(measure)));
@@ -159,9 +189,9 @@
 
     std::vector<int64_t> memoryIdentifierTokens;
     std::vector<OptionalCacheHold> holds;
-    memoryIdentifierTokens.reserve(request.pools.size());
-    holds.reserve(request.pools.size());
-    for (const auto& memoryPool : request.pools) {
+    memoryIdentifierTokens.reserve(requestInShared.pools.size());
+    holds.reserve(requestInShared.pools.size());
+    for (const auto& memoryPool : requestInShared.pools) {
         if (const auto* memory = std::get_if<nn::SharedMemory>(&memoryPool)) {
             if (auto cached = kMemoryCache->getMemoryIfAvailable(*memory)) {
                 auto& [identifier, hold] = *cached;
@@ -172,12 +202,30 @@
         }
         memoryIdentifierTokens.push_back(-1);
     }
-    CHECK_EQ(request.pools.size(), memoryIdentifierTokens.size());
+    CHECK_EQ(requestInShared.pools.size(), memoryIdentifierTokens.size());
+
+    return executeInternal(aidlRequest, memoryIdentifierTokens, aidlMeasure, aidlDeadline,
+                           aidlLoopTimeoutDuration, relocation);
+}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> Burst::executeInternal(
+        const Request& request, const std::vector<int64_t>& memoryIdentifierTokens, bool measure,
+        int64_t deadline, int64_t loopTimeoutDuration,
+        const hal::utils::RequestRelocation& relocation) const {
+    // Ensure that at most one execution is in flight at any given time.
+    const bool alreadyInFlight = mExecutionInFlight.test_and_set();
+    if (alreadyInFlight) {
+        return NN_ERROR() << "IBurst already has an execution in flight";
+    }
+    const auto guard = ::android::base::make_scope_guard([this] { mExecutionInFlight.clear(); });
+
+    if (relocation.input) {
+        relocation.input->flush();
+    }
 
     ExecutionResult executionResult;
-    const auto ret =
-            kBurst->executeSynchronously(aidlRequest, memoryIdentifierTokens, aidlMeasure,
-                                         aidlDeadline, aidlLoopTimeoutDuration, &executionResult);
+    const auto ret = kBurst->executeSynchronously(request, memoryIdentifierTokens, measure,
+                                                  deadline, loopTimeoutDuration, &executionResult);
     HANDLE_ASTATUS(ret) << "execute failed";
     if (!executionResult.outputSufficientSize) {
         auto canonicalOutputShapes =
@@ -188,10 +236,89 @@
     auto [outputShapes, timing] = NN_TRY(hal::utils::makeExecutionFailure(
             convertExecutionResults(executionResult.outputShapes, executionResult.timing)));
 
-    NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::unflushDataFromSharedToPointer(request, maybeRequestInShared)));
-
+    if (relocation.output) {
+        relocation.output->flush();
+    }
     return std::make_pair(std::move(outputShapes), timing);
 }
 
+nn::GeneralResult<nn::SharedExecution> Burst::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+    // Ensure that request is ready for IPC.
+    std::optional<nn::Request> maybeRequestInShared;
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared = NN_TRY(hal::utils::convertRequestFromPointerToShared(
+            &request, nn::kDefaultRequestMemoryAlignment, nn::kDefaultRequestMemoryPadding,
+            &maybeRequestInShared, &relocation));
+
+    auto aidlRequest = NN_TRY(convert(requestInShared));
+    const auto aidlMeasure = NN_TRY(convert(measure));
+    const auto aidlLoopTimeoutDuration = NN_TRY(convert(loopTimeoutDuration));
+
+    std::vector<int64_t> memoryIdentifierTokens;
+    std::vector<OptionalCacheHold> holds;
+    memoryIdentifierTokens.reserve(requestInShared.pools.size());
+    holds.reserve(requestInShared.pools.size());
+    for (const auto& memoryPool : requestInShared.pools) {
+        if (const auto* memory = std::get_if<nn::SharedMemory>(&memoryPool)) {
+            if (auto cached = kMemoryCache->getMemoryIfAvailable(*memory)) {
+                auto& [identifier, hold] = *cached;
+                memoryIdentifierTokens.push_back(identifier);
+                holds.push_back(std::move(hold));
+                continue;
+            }
+        }
+        memoryIdentifierTokens.push_back(-1);
+    }
+    CHECK_EQ(requestInShared.pools.size(), memoryIdentifierTokens.size());
+
+    return BurstExecution::create(shared_from_this(), std::move(aidlRequest),
+                                  std::move(memoryIdentifierTokens), aidlMeasure,
+                                  aidlLoopTimeoutDuration, std::move(relocation), std::move(holds));
+}
+
+nn::GeneralResult<std::shared_ptr<const BurstExecution>> BurstExecution::create(
+        std::shared_ptr<const Burst> burst, Request request,
+        std::vector<int64_t> memoryIdentifierTokens, bool measure, int64_t loopTimeoutDuration,
+        hal::utils::RequestRelocation relocation,
+        std::vector<Burst::OptionalCacheHold> cacheHolds) {
+    if (burst == nullptr) {
+        return NN_ERROR() << "aidl::utils::BurstExecution::create must have non-null burst";
+    }
+
+    return std::make_shared<const BurstExecution>(
+            PrivateConstructorTag{}, std::move(burst), std::move(request),
+            std::move(memoryIdentifierTokens), measure, loopTimeoutDuration, std::move(relocation),
+            std::move(cacheHolds));
+}
+
+BurstExecution::BurstExecution(PrivateConstructorTag /*tag*/, std::shared_ptr<const Burst> burst,
+                               Request request, std::vector<int64_t> memoryIdentifierTokens,
+                               bool measure, int64_t loopTimeoutDuration,
+                               hal::utils::RequestRelocation relocation,
+                               std::vector<Burst::OptionalCacheHold> cacheHolds)
+    : kBurst(std::move(burst)),
+      kRequest(std::move(request)),
+      kMemoryIdentifierTokens(std::move(memoryIdentifierTokens)),
+      kMeasure(measure),
+      kLoopTimeoutDuration(loopTimeoutDuration),
+      kRelocation(std::move(relocation)),
+      kCacheHolds(std::move(cacheHolds)) {}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> BurstExecution::compute(
+        const nn::OptionalTimePoint& deadline) const {
+    const auto aidlDeadline = NN_TRY(hal::utils::makeExecutionFailure(convert(deadline)));
+    return kBurst->executeInternal(kRequest, kMemoryIdentifierTokens, kMeasure, aidlDeadline,
+                                   kLoopTimeoutDuration, kRelocation);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>
+BurstExecution::computeFenced(const std::vector<nn::SyncFence>& /*waitFor*/,
+                              const nn::OptionalTimePoint& /*deadline*/,
+                              const nn::OptionalDuration& /*timeoutDurationAfterFence*/) const {
+    return NN_ERROR(nn::ErrorStatus::GENERAL_FAILURE)
+           << "IExecution::computeFenced is not supported on burst object";
+}
+
 }  // namespace aidl::android::hardware::neuralnetworks::utils
diff --git a/neuralnetworks/aidl/utils/src/Execution.cpp b/neuralnetworks/aidl/utils/src/Execution.cpp
new file mode 100644
index 0000000..2aee8a6
--- /dev/null
+++ b/neuralnetworks/aidl/utils/src/Execution.cpp
@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "Execution.h"
+
+#include "Conversions.h"
+#include "PreparedModel.h"
+#include "Utils.h"
+
+#include <aidl/android/hardware/neuralnetworks/Request.h>
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/CommonUtils.h>
+#include <nnapi/hal/HandleError.h>
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+// See hardware/interfaces/neuralnetworks/utils/README.md for more information on HIDL interface
+// lifetimes across processes and for protecting asynchronous calls across HIDL.
+
+namespace aidl::android::hardware::neuralnetworks::utils {
+
+nn::GeneralResult<std::shared_ptr<const Execution>> Execution::create(
+        std::shared_ptr<const PreparedModel> preparedModel, Request request,
+        hal::utils::RequestRelocation relocation, bool measure, int64_t loopTimeoutDuration) {
+    if (preparedModel == nullptr) {
+        return NN_ERROR() << "aidl::utils::Execution::create must have non-null preparedModel";
+    }
+
+    return std::make_shared<const Execution>(PrivateConstructorTag{}, std::move(preparedModel),
+                                             std::move(request), std::move(relocation), measure,
+                                             loopTimeoutDuration);
+}
+
+Execution::Execution(PrivateConstructorTag /*tag*/,
+                     std::shared_ptr<const PreparedModel> preparedModel, Request request,
+                     hal::utils::RequestRelocation relocation, bool measure,
+                     int64_t loopTimeoutDuration)
+    : kPreparedModel(std::move(preparedModel)),
+      kRequest(std::move(request)),
+      kRelocation(std::move(relocation)),
+      kMeasure(measure),
+      kLoopTimeoutDuration(loopTimeoutDuration) {}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> Execution::compute(
+        const nn::OptionalTimePoint& deadline) const {
+    const auto aidlDeadline = NN_TRY(hal::utils::makeExecutionFailure(convert(deadline)));
+    return kPreparedModel->executeInternal(kRequest, kMeasure, aidlDeadline, kLoopTimeoutDuration,
+                                           kRelocation);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> Execution::computeFenced(
+        const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+        const nn::OptionalDuration& timeoutDurationAfterFence) const {
+    const auto aidlWaitFor = NN_TRY(convert(waitFor));
+    const auto aidlDeadline = NN_TRY(convert(deadline));
+    const auto aidlTimeoutDurationAfterFence = NN_TRY(convert(timeoutDurationAfterFence));
+    return kPreparedModel->executeFencedInternal(kRequest, aidlWaitFor, kMeasure, aidlDeadline,
+                                                 kLoopTimeoutDuration,
+                                                 aidlTimeoutDurationAfterFence, kRelocation);
+}
+
+}  // namespace aidl::android::hardware::neuralnetworks::utils
diff --git a/neuralnetworks/aidl/utils/src/PreparedModel.cpp b/neuralnetworks/aidl/utils/src/PreparedModel.cpp
index 003965b..18e7636 100644
--- a/neuralnetworks/aidl/utils/src/PreparedModel.cpp
+++ b/neuralnetworks/aidl/utils/src/PreparedModel.cpp
@@ -19,8 +19,11 @@
 #include "Burst.h"
 #include "Callbacks.h"
 #include "Conversions.h"
+#include "Execution.h"
+#include "ProtectCallback.h"
 #include "Utils.h"
 
+#include <aidl/android/hardware/neuralnetworks/Request.h>
 #include <android/binder_auto_utils.h>
 #include <nnapi/IPreparedModel.h>
 #include <nnapi/Result.h>
@@ -74,18 +77,32 @@
         const nn::OptionalDuration& loopTimeoutDuration) const {
     // Ensure that request is ready for IPC.
     std::optional<nn::Request> maybeRequestInShared;
-    const nn::Request& requestInShared = NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::flushDataFromPointerToShared(&request, &maybeRequestInShared)));
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared =
+            NN_TRY(hal::utils::makeExecutionFailure(hal::utils::convertRequestFromPointerToShared(
+                    &request, nn::kDefaultRequestMemoryAlignment, nn::kDefaultRequestMemoryPadding,
+                    &maybeRequestInShared, &relocation)));
 
     const auto aidlRequest = NN_TRY(hal::utils::makeExecutionFailure(convert(requestInShared)));
     const auto aidlMeasure = NN_TRY(hal::utils::makeExecutionFailure(convert(measure)));
     const auto aidlDeadline = NN_TRY(hal::utils::makeExecutionFailure(convert(deadline)));
     const auto aidlLoopTimeoutDuration =
             NN_TRY(hal::utils::makeExecutionFailure(convert(loopTimeoutDuration)));
+    return executeInternal(aidlRequest, aidlMeasure, aidlDeadline, aidlLoopTimeoutDuration,
+                           relocation);
+}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>
+PreparedModel::executeInternal(const Request& request, bool measure, int64_t deadline,
+                               int64_t loopTimeoutDuration,
+                               const hal::utils::RequestRelocation& relocation) const {
+    if (relocation.input) {
+        relocation.input->flush();
+    }
 
     ExecutionResult executionResult;
-    const auto ret = kPreparedModel->executeSynchronously(
-            aidlRequest, aidlMeasure, aidlDeadline, aidlLoopTimeoutDuration, &executionResult);
+    const auto ret = kPreparedModel->executeSynchronously(request, measure, deadline,
+                                                          loopTimeoutDuration, &executionResult);
     HANDLE_ASTATUS(ret) << "executeSynchronously failed";
     if (!executionResult.outputSufficientSize) {
         auto canonicalOutputShapes =
@@ -96,9 +113,9 @@
     auto [outputShapes, timing] = NN_TRY(hal::utils::makeExecutionFailure(
             convertExecutionResults(executionResult.outputShapes, executionResult.timing)));
 
-    NN_TRY(hal::utils::makeExecutionFailure(
-            hal::utils::unflushDataFromSharedToPointer(request, maybeRequestInShared)));
-
+    if (relocation.output) {
+        relocation.output->flush();
+    }
     return std::make_pair(std::move(outputShapes), timing);
 }
 
@@ -109,8 +126,10 @@
                              const nn::OptionalDuration& timeoutDurationAfterFence) const {
     // Ensure that request is ready for IPC.
     std::optional<nn::Request> maybeRequestInShared;
-    const nn::Request& requestInShared =
-            NN_TRY(hal::utils::flushDataFromPointerToShared(&request, &maybeRequestInShared));
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared = NN_TRY(hal::utils::convertRequestFromPointerToShared(
+            &request, nn::kDefaultRequestMemoryAlignment, nn::kDefaultRequestMemoryPadding,
+            &maybeRequestInShared, &relocation));
 
     const auto aidlRequest = NN_TRY(convert(requestInShared));
     const auto aidlWaitFor = NN_TRY(convert(waitFor));
@@ -118,11 +137,25 @@
     const auto aidlDeadline = NN_TRY(convert(deadline));
     const auto aidlLoopTimeoutDuration = NN_TRY(convert(loopTimeoutDuration));
     const auto aidlTimeoutDurationAfterFence = NN_TRY(convert(timeoutDurationAfterFence));
+    return executeFencedInternal(aidlRequest, aidlWaitFor, aidlMeasure, aidlDeadline,
+                                 aidlLoopTimeoutDuration, aidlTimeoutDurationAfterFence,
+                                 relocation);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>
+PreparedModel::executeFencedInternal(const Request& request,
+                                     const std::vector<ndk::ScopedFileDescriptor>& waitFor,
+                                     bool measure, int64_t deadline, int64_t loopTimeoutDuration,
+                                     int64_t timeoutDurationAfterFence,
+                                     const hal::utils::RequestRelocation& relocation) const {
+    if (relocation.input) {
+        relocation.input->flush();
+    }
 
     FencedExecutionResult result;
-    const auto ret = kPreparedModel->executeFenced(aidlRequest, aidlWaitFor, aidlMeasure,
-                                                   aidlDeadline, aidlLoopTimeoutDuration,
-                                                   aidlTimeoutDurationAfterFence, &result);
+    const auto ret =
+            kPreparedModel->executeFenced(request, waitFor, measure, deadline, loopTimeoutDuration,
+                                          timeoutDurationAfterFence, &result);
     HANDLE_ASTATUS(ret) << "executeFenced failed";
 
     auto resultSyncFence = nn::SyncFence::createAsSignaled();
@@ -137,12 +170,12 @@
 
     // If executeFenced required the request memory to be moved into shared memory, block here until
     // the fenced execution has completed and flush the memory back.
-    if (maybeRequestInShared.has_value()) {
+    if (relocation.output) {
         const auto state = resultSyncFence.syncWait({});
         if (state != nn::SyncFence::FenceState::SIGNALED) {
             return NN_ERROR() << "syncWait failed with " << state;
         }
-        NN_TRY(hal::utils::unflushDataFromSharedToPointer(request, maybeRequestInShared));
+        relocation.output->flush();
     }
 
     // Create callback which can be used to retrieve the execution error status and timings.
@@ -159,6 +192,23 @@
     return std::make_pair(std::move(resultSyncFence), std::move(resultCallback));
 }
 
+nn::GeneralResult<nn::SharedExecution> PreparedModel::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+    // Ensure that request is ready for IPC.
+    std::optional<nn::Request> maybeRequestInShared;
+    hal::utils::RequestRelocation relocation;
+    const nn::Request& requestInShared = NN_TRY(hal::utils::convertRequestFromPointerToShared(
+            &request, nn::kDefaultRequestMemoryAlignment, nn::kDefaultRequestMemoryPadding,
+            &maybeRequestInShared, &relocation));
+
+    auto aidlRequest = NN_TRY(convert(requestInShared));
+    auto aidlMeasure = NN_TRY(convert(measure));
+    auto aidlLoopTimeoutDuration = NN_TRY(convert(loopTimeoutDuration));
+    return Execution::create(shared_from_this(), std::move(aidlRequest), std::move(relocation),
+                             aidlMeasure, aidlLoopTimeoutDuration);
+}
+
 nn::GeneralResult<nn::SharedBurst> PreparedModel::configureExecutionBurst() const {
     std::shared_ptr<IBurst> burst;
     const auto ret = kPreparedModel->configureExecutionBurst(&burst);
diff --git a/neuralnetworks/aidl/utils/test/PreparedModelTest.cpp b/neuralnetworks/aidl/utils/test/PreparedModelTest.cpp
index ff98a7d..8bb5c90 100644
--- a/neuralnetworks/aidl/utils/test/PreparedModelTest.cpp
+++ b/neuralnetworks/aidl/utils/test/PreparedModelTest.cpp
@@ -21,6 +21,7 @@
 #include <aidl/android/hardware/neuralnetworks/IFencedExecutionCallback.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <nnapi/IExecution.h>
 #include <nnapi/IPreparedModel.h>
 #include <nnapi/TypeUtils.h>
 #include <nnapi/Types.h>
@@ -253,6 +254,225 @@
     EXPECT_EQ(result.error().code, nn::ErrorStatus::DEAD_OBJECT);
 }
 
+TEST(PreparedModelTest, reusableExecuteSync) {
+    // setup call
+    const uint32_t kNumberOfComputations = 2;
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    const auto mockExecutionResult = ExecutionResult{
+            .outputSufficientSize = true,
+            .outputShapes = {},
+            .timing = kNoTiming,
+    };
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously(_, _, _, _, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(
+                    DoAll(SetArgPointee<4>(mockExecutionResult), InvokeWithoutArgs(makeStatusOk)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute repeatedly
+    for (uint32_t i = 0; i < kNumberOfComputations; i++) {
+        const auto computeResult = createResult.value()->compute({});
+        EXPECT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code
+                                               << ": " << computeResult.error().message;
+    }
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncError) {
+    // setup test
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(Invoke(makeGeneralFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncTransportFailure) {
+    // setup test
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralTransportFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteSyncDeadObject) {
+    // setup test
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, executeSynchronously(_, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeDeadObjectFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->compute({});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(PreparedModelTest, reusableExecuteFenced) {
+    // setup call
+    const uint32_t kNumberOfComputations = 2;
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    const auto mockCallback = MockFencedExecutionCallback::create();
+    EXPECT_CALL(*mockCallback, getExecutionInfo(_, _, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(DoAll(SetArgPointee<0>(kNoTiming), SetArgPointee<1>(kNoTiming),
+                                  SetArgPointee<2>(ErrorStatus::NONE), Invoke(makeStatusOk)));
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(kNumberOfComputations)
+            .WillRepeatedly(Invoke(makeFencedExecutionResult(mockCallback)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute repeatedly
+    for (uint32_t i = 0; i < kNumberOfComputations; i++) {
+        const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+        ASSERT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code
+                                               << ": " << computeResult.error().message;
+        const auto& [syncFence, callback] = computeResult.value();
+        EXPECT_EQ(syncFence.syncWait({}), nn::SyncFence::FenceState::SIGNALED);
+        ASSERT_NE(callback, nullptr);
+
+        // get results from callback
+        const auto callbackResult = callback();
+        ASSERT_TRUE(callbackResult.has_value()) << "Failed with " << callbackResult.error().code
+                                                << ": " << callbackResult.error().message;
+    }
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedCallbackError) {
+    // setup call
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    const auto mockCallback = MockFencedExecutionCallback::create();
+    EXPECT_CALL(*mockCallback, getExecutionInfo(_, _, _))
+            .Times(1)
+            .WillOnce(Invoke(DoAll(SetArgPointee<0>(kNoTiming), SetArgPointee<1>(kNoTiming),
+                                   SetArgPointee<2>(ErrorStatus::GENERAL_FAILURE),
+                                   Invoke(makeStatusOk))));
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(1)
+            .WillOnce(Invoke(makeFencedExecutionResult(mockCallback)));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_TRUE(computeResult.has_value()) << "Failed with " << computeResult.error().code << ": "
+                                           << computeResult.error().message;
+    const auto& [syncFence, callback] = computeResult.value();
+    EXPECT_NE(syncFence.syncWait({}), nn::SyncFence::FenceState::ACTIVE);
+    ASSERT_NE(callback, nullptr);
+
+    // verify callback failure
+    const auto callbackResult = callback();
+    ASSERT_FALSE(callbackResult.has_value());
+    EXPECT_EQ(callbackResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedError) {
+    // setup test
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedTransportFailure) {
+    // setup test
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeGeneralTransportFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(PreparedModelTest, reusableExecuteFencedDeadObject) {
+    // setup test
+    const auto mockPreparedModel = MockPreparedModel::create();
+    const auto preparedModel = PreparedModel::create(mockPreparedModel).value();
+    EXPECT_CALL(*mockPreparedModel, executeFenced(_, _, _, _, _, _, _))
+            .Times(1)
+            .WillOnce(InvokeWithoutArgs(makeDeadObjectFailure));
+
+    // create execution
+    const auto createResult = preparedModel->createReusableExecution({}, {}, {});
+    ASSERT_TRUE(createResult.has_value())
+            << "Failed with " << createResult.error().code << ": " << createResult.error().message;
+    ASSERT_NE(createResult.value(), nullptr);
+
+    // invoke compute
+    const auto computeResult = createResult.value()->computeFenced({}, {}, {});
+    ASSERT_FALSE(computeResult.has_value());
+    EXPECT_EQ(computeResult.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
 TEST(PreparedModelTest, configureExecutionBurst) {
     // setup test
     const auto mockPreparedModel = MockPreparedModel::create();
diff --git a/neuralnetworks/utils/common/include/nnapi/hal/CommonUtils.h b/neuralnetworks/utils/common/include/nnapi/hal/CommonUtils.h
index 8fe6b90..702ee92 100644
--- a/neuralnetworks/utils/common/include/nnapi/hal/CommonUtils.h
+++ b/neuralnetworks/utils/common/include/nnapi/hal/CommonUtils.h
@@ -20,6 +20,7 @@
 #include <cutils/native_handle.h>
 #include <hidl/HidlSupport.h>
 #include <nnapi/Result.h>
+#include <nnapi/SharedMemory.h>
 #include <nnapi/Types.h>
 #include <functional>
 #include <vector>
@@ -59,19 +60,70 @@
 nn::GeneralResult<std::reference_wrapper<const nn::Model>> flushDataFromPointerToShared(
         const nn::Model* model, std::optional<nn::Model>* maybeModelInSharedOut);
 
+// Record a relocation mapping between pointer-based data and shared memory.
+// Only two specializations of this template may exist:
+// - RelocationInfo<const void*> for request inputs
+// - RelocationInfo<void*> for request outputs
+template <typename PointerType>
+struct RelocationInfo {
+    PointerType data;
+    size_t length;
+    size_t offset;
+};
+using InputRelocationInfo = RelocationInfo<const void*>;
+using OutputRelocationInfo = RelocationInfo<void*>;
+
+// Keep track of the relocation mapping between pointer-based data and shared memory pool,
+// and provide method to copy the data between pointers and the shared memory pool.
+// Only two specializations of this template may exist:
+// - RelocationTracker<InputRelocationInfo> for request inputs
+// - RelocationTracker<OutputRelocationInfo> for request outputs
+template <typename RelocationInfoType>
+class RelocationTracker {
+  public:
+    static nn::GeneralResult<std::unique_ptr<RelocationTracker>> create(
+            std::vector<RelocationInfoType> relocationInfos, nn::SharedMemory memory) {
+        auto mapping = NN_TRY(map(memory));
+        return std::make_unique<RelocationTracker<RelocationInfoType>>(
+                std::move(relocationInfos), std::move(memory), std::move(mapping));
+    }
+
+    RelocationTracker(std::vector<RelocationInfoType> relocationInfos, nn::SharedMemory memory,
+                      nn::Mapping mapping)
+        : kRelocationInfos(std::move(relocationInfos)),
+          kMemory(std::move(memory)),
+          kMapping(std::move(mapping)) {}
+
+    // Specializations defined in CommonUtils.cpp.
+    // For InputRelocationTracker, this method will copy pointer data to the shared memory pool.
+    // For OutputRelocationTracker, this method will copy shared memory data to the pointers.
+    void flush() const;
+
+  private:
+    const std::vector<RelocationInfoType> kRelocationInfos;
+    const nn::SharedMemory kMemory;
+    const nn::Mapping kMapping;
+};
+using InputRelocationTracker = RelocationTracker<InputRelocationInfo>;
+using OutputRelocationTracker = RelocationTracker<OutputRelocationInfo>;
+
+struct RequestRelocation {
+    std::unique_ptr<InputRelocationTracker> input;
+    std::unique_ptr<OutputRelocationTracker> output;
+};
+
 // Relocate pointer-based data to shared memory. If `request` has no
 // Request::Argument::LifeTime::POINTER data, the function returns with a reference to `request`. If
 // `request` has Request::Argument::LifeTime::POINTER data, the request is copied to
 // `maybeRequestInSharedOut` with the POINTER data relocated to a memory pool, and the function
-// returns with a reference to `*maybeRequestInSharedOut`.
-nn::GeneralResult<std::reference_wrapper<const nn::Request>> flushDataFromPointerToShared(
-        const nn::Request* request, std::optional<nn::Request>* maybeRequestInSharedOut);
-
-// Undoes `flushDataFromPointerToShared` on a Request object. More specifically,
-// `unflushDataFromSharedToPointer` copies the output shared memory data from the transformed
-// Request object back to the output pointer-based memory in the original Request object.
-nn::GeneralResult<void> unflushDataFromSharedToPointer(
-        const nn::Request& request, const std::optional<nn::Request>& maybeRequestInShared);
+// returns with a reference to `*maybeRequestInSharedOut`. The `relocationOut` will be set to track
+// the input and output relocations.
+//
+// Unlike `flushDataFromPointerToShared`, this method will not copy the input pointer data to the
+// shared memory pool. Use `relocationOut` to flush the input or output data after the call.
+nn::GeneralResult<std::reference_wrapper<const nn::Request>> convertRequestFromPointerToShared(
+        const nn::Request* request, uint32_t alignment, uint32_t padding,
+        std::optional<nn::Request>* maybeRequestInSharedOut, RequestRelocation* relocationOut);
 
 nn::GeneralResult<std::vector<uint32_t>> countNumberOfConsumers(
         size_t numberOfOperands, const std::vector<nn::Operation>& operations);
diff --git a/neuralnetworks/utils/common/include/nnapi/hal/InvalidBurst.h b/neuralnetworks/utils/common/include/nnapi/hal/InvalidBurst.h
index 17b3fd9..e86edda 100644
--- a/neuralnetworks/utils/common/include/nnapi/hal/InvalidBurst.h
+++ b/neuralnetworks/utils/common/include/nnapi/hal/InvalidBurst.h
@@ -35,6 +35,10 @@
             const nn::Request& request, nn::MeasureTiming measure,
             const nn::OptionalTimePoint& deadline,
             const nn::OptionalDuration& loopTimeoutDuration) const override;
+
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
 };
 
 }  // namespace android::hardware::neuralnetworks::utils
diff --git a/neuralnetworks/utils/common/include/nnapi/hal/InvalidExecution.h b/neuralnetworks/utils/common/include/nnapi/hal/InvalidExecution.h
new file mode 100644
index 0000000..5b00221
--- /dev/null
+++ b/neuralnetworks/utils/common/include/nnapi/hal/InvalidExecution.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_INVALID_EXECUTION_H
+#define ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_INVALID_EXECUTION_H
+
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+
+#include <utility>
+#include <vector>
+
+namespace android::hardware::neuralnetworks::utils {
+
+class InvalidExecution final : public nn::IExecution {
+  public:
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> compute(
+            const nn::OptionalTimePoint& deadline) const override;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> computeFenced(
+            const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+            const nn::OptionalDuration& timeoutDurationAfterFence) const override;
+};
+
+}  // namespace android::hardware::neuralnetworks::utils
+
+#endif  // ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_INVALID_EXECUTION_H
diff --git a/neuralnetworks/utils/common/include/nnapi/hal/InvalidPreparedModel.h b/neuralnetworks/utils/common/include/nnapi/hal/InvalidPreparedModel.h
index 3e1dca7..de30aae 100644
--- a/neuralnetworks/utils/common/include/nnapi/hal/InvalidPreparedModel.h
+++ b/neuralnetworks/utils/common/include/nnapi/hal/InvalidPreparedModel.h
@@ -40,6 +40,10 @@
             const nn::OptionalDuration& loopTimeoutDuration,
             const nn::OptionalDuration& timeoutDurationAfterFence) const override;
 
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
     nn::GeneralResult<nn::SharedBurst> configureExecutionBurst() const override;
 
     std::any getUnderlyingResource() const override;
diff --git a/neuralnetworks/utils/common/include/nnapi/hal/ResilientBurst.h b/neuralnetworks/utils/common/include/nnapi/hal/ResilientBurst.h
index c92cc41..fde2486 100644
--- a/neuralnetworks/utils/common/include/nnapi/hal/ResilientBurst.h
+++ b/neuralnetworks/utils/common/include/nnapi/hal/ResilientBurst.h
@@ -51,7 +51,16 @@
             const nn::OptionalTimePoint& deadline,
             const nn::OptionalDuration& loopTimeoutDuration) const override;
 
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
   private:
+    bool isValidInternal() const EXCLUDES(mMutex);
+    nn::GeneralResult<nn::SharedExecution> createReusableExecutionInternal(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const;
+
     const Factory kMakeBurst;
     mutable std::mutex mMutex;
     mutable nn::SharedBurst mBurst GUARDED_BY(mMutex);
diff --git a/neuralnetworks/utils/common/include/nnapi/hal/ResilientExecution.h b/neuralnetworks/utils/common/include/nnapi/hal/ResilientExecution.h
new file mode 100644
index 0000000..d0084e8
--- /dev/null
+++ b/neuralnetworks/utils/common/include/nnapi/hal/ResilientExecution.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_RESILIENT_EXECUTION_H
+#define ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_RESILIENT_EXECUTION_H
+
+#include <android-base/thread_annotations.h>
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <utility>
+#include <vector>
+
+namespace android::hardware::neuralnetworks::utils {
+
+class ResilientExecution final : public nn::IExecution,
+                                 public std::enable_shared_from_this<ResilientExecution> {
+    struct PrivateConstructorTag {};
+
+  public:
+    using Factory = std::function<nn::GeneralResult<nn::SharedExecution>()>;
+
+    static nn::GeneralResult<std::shared_ptr<const ResilientExecution>> create(
+            Factory makeExecution);
+
+    ResilientExecution(PrivateConstructorTag tag, Factory makeExecution,
+                       nn::SharedExecution execution);
+
+    nn::SharedExecution getExecution() const;
+    nn::GeneralResult<nn::SharedExecution> recover(const nn::IExecution* failingExecution) const;
+
+    nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> compute(
+            const nn::OptionalTimePoint& deadline) const override;
+
+    nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>> computeFenced(
+            const std::vector<nn::SyncFence>& waitFor, const nn::OptionalTimePoint& deadline,
+            const nn::OptionalDuration& timeoutDurationAfterFence) const override;
+
+  private:
+    bool isValidInternal() const EXCLUDES(mMutex);
+
+    const Factory kMakeExecution;
+    mutable std::mutex mMutex;
+    mutable nn::SharedExecution mExecution GUARDED_BY(mMutex);
+};
+
+}  // namespace android::hardware::neuralnetworks::utils
+
+#endif  // ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_RESILIENT_EXECUTION_H
diff --git a/neuralnetworks/utils/common/include/nnapi/hal/ResilientPreparedModel.h b/neuralnetworks/utils/common/include/nnapi/hal/ResilientPreparedModel.h
index a6c1b19..86533ed 100644
--- a/neuralnetworks/utils/common/include/nnapi/hal/ResilientPreparedModel.h
+++ b/neuralnetworks/utils/common/include/nnapi/hal/ResilientPreparedModel.h
@@ -58,12 +58,19 @@
             const nn::OptionalDuration& loopTimeoutDuration,
             const nn::OptionalDuration& timeoutDurationAfterFence) const override;
 
+    nn::GeneralResult<nn::SharedExecution> createReusableExecution(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const override;
+
     nn::GeneralResult<nn::SharedBurst> configureExecutionBurst() const override;
 
     std::any getUnderlyingResource() const override;
 
   private:
     bool isValidInternal() const EXCLUDES(mMutex);
+    nn::GeneralResult<nn::SharedExecution> createReusableExecutionInternal(
+            const nn::Request& request, nn::MeasureTiming measure,
+            const nn::OptionalDuration& loopTimeoutDuration) const;
     nn::GeneralResult<nn::SharedBurst> configureExecutionBurstInternal() const;
 
     const Factory kMakePreparedModel;
diff --git a/neuralnetworks/utils/common/src/CommonUtils.cpp b/neuralnetworks/utils/common/src/CommonUtils.cpp
index 4d26795..8e55bf0 100644
--- a/neuralnetworks/utils/common/src/CommonUtils.cpp
+++ b/neuralnetworks/utils/common/src/CommonUtils.cpp
@@ -200,10 +200,31 @@
     return **maybeModelInSharedOut;
 }
 
-nn::GeneralResult<std::reference_wrapper<const nn::Request>> flushDataFromPointerToShared(
-        const nn::Request* request, std::optional<nn::Request>* maybeRequestInSharedOut) {
+template <>
+void InputRelocationTracker::flush() const {
+    // Copy from pointers to shared memory.
+    uint8_t* memoryPtr = static_cast<uint8_t*>(std::get<void*>(kMapping.pointer));
+    for (const auto& [data, length, offset] : kRelocationInfos) {
+        std::memcpy(memoryPtr + offset, data, length);
+    }
+}
+
+template <>
+void OutputRelocationTracker::flush() const {
+    // Copy from shared memory to pointers.
+    const uint8_t* memoryPtr = static_cast<const uint8_t*>(
+            std::visit([](auto ptr) { return static_cast<const void*>(ptr); }, kMapping.pointer));
+    for (const auto& [data, length, offset] : kRelocationInfos) {
+        std::memcpy(data, memoryPtr + offset, length);
+    }
+}
+
+nn::GeneralResult<std::reference_wrapper<const nn::Request>> convertRequestFromPointerToShared(
+        const nn::Request* request, uint32_t alignment, uint32_t padding,
+        std::optional<nn::Request>* maybeRequestInSharedOut, RequestRelocation* relocationOut) {
     CHECK(request != nullptr);
     CHECK(maybeRequestInSharedOut != nullptr);
+    CHECK(relocationOut != nullptr);
 
     if (hasNoPointerData(*request)) {
         return *request;
@@ -213,8 +234,11 @@
     // to the caller through `maybeRequestInSharedOut` if the function succeeds.
     nn::Request requestInShared = *request;
 
+    RequestRelocation relocation;
+
     // Change input pointers to shared memory.
-    nn::ConstantMemoryBuilder inputBuilder(requestInShared.pools.size());
+    nn::MutableMemoryBuilder inputBuilder(requestInShared.pools.size());
+    std::vector<InputRelocationInfo> inputRelocationInfos;
     for (auto& input : requestInShared.inputs) {
         const auto& location = input.location;
         if (input.lifetime != nn::Request::Argument::LifeTime::POINTER) {
@@ -225,17 +249,21 @@
         const void* data = std::visit([](auto ptr) { return static_cast<const void*>(ptr); },
                                       location.pointer);
         CHECK(data != nullptr);
-        input.location = inputBuilder.append(data, location.length);
+        input.location = inputBuilder.append(location.length, alignment, padding);
+        inputRelocationInfos.push_back({data, input.location.length, input.location.offset});
     }
 
     // Allocate input memory.
     if (!inputBuilder.empty()) {
         auto memory = NN_TRY(inputBuilder.finish());
-        requestInShared.pools.push_back(std::move(memory));
+        requestInShared.pools.push_back(memory);
+        relocation.input = NN_TRY(
+                InputRelocationTracker::create(std::move(inputRelocationInfos), std::move(memory)));
     }
 
     // Change output pointers to shared memory.
     nn::MutableMemoryBuilder outputBuilder(requestInShared.pools.size());
+    std::vector<OutputRelocationInfo> outputRelocationInfos;
     for (auto& output : requestInShared.outputs) {
         const auto& location = output.location;
         if (output.lifetime != nn::Request::Argument::LifeTime::POINTER) {
@@ -243,62 +271,25 @@
         }
 
         output.lifetime = nn::Request::Argument::LifeTime::POOL;
-        output.location = outputBuilder.append(location.length);
+        void* data = std::get<void*>(location.pointer);
+        CHECK(data != nullptr);
+        output.location = outputBuilder.append(location.length, alignment, padding);
+        outputRelocationInfos.push_back({data, output.location.length, output.location.offset});
     }
 
     // Allocate output memory.
     if (!outputBuilder.empty()) {
         auto memory = NN_TRY(outputBuilder.finish());
-        requestInShared.pools.push_back(std::move(memory));
+        requestInShared.pools.push_back(memory);
+        relocation.output = NN_TRY(OutputRelocationTracker::create(std::move(outputRelocationInfos),
+                                                                   std::move(memory)));
     }
 
     *maybeRequestInSharedOut = requestInShared;
+    *relocationOut = std::move(relocation);
     return **maybeRequestInSharedOut;
 }
 
-nn::GeneralResult<void> unflushDataFromSharedToPointer(
-        const nn::Request& request, const std::optional<nn::Request>& maybeRequestInShared) {
-    if (!maybeRequestInShared.has_value() || maybeRequestInShared->pools.empty() ||
-        !std::holds_alternative<nn::SharedMemory>(maybeRequestInShared->pools.back())) {
-        return {};
-    }
-    const auto& requestInShared = *maybeRequestInShared;
-
-    // Map the memory.
-    const auto& outputMemory = std::get<nn::SharedMemory>(requestInShared.pools.back());
-    const auto [pointer, size, context] = NN_TRY(map(outputMemory));
-    const uint8_t* constantPointer =
-            std::visit([](const auto& o) { return static_cast<const uint8_t*>(o); }, pointer);
-
-    // Flush each output pointer.
-    CHECK_EQ(request.outputs.size(), requestInShared.outputs.size());
-    for (size_t i = 0; i < request.outputs.size(); ++i) {
-        const auto& location = request.outputs[i].location;
-        const auto& locationInShared = requestInShared.outputs[i].location;
-        if (!std::holds_alternative<void*>(location.pointer)) {
-            continue;
-        }
-
-        // Get output pointer and size.
-        void* data = std::get<void*>(location.pointer);
-        CHECK(data != nullptr);
-        const size_t length = location.length;
-
-        // Get output pool location.
-        CHECK(requestInShared.outputs[i].lifetime == nn::Request::Argument::LifeTime::POOL);
-        const size_t index = locationInShared.poolIndex;
-        const size_t offset = locationInShared.offset;
-        const size_t outputPoolIndex = requestInShared.pools.size() - 1;
-        CHECK(locationInShared.length == length);
-        CHECK(index == outputPoolIndex);
-
-        // Flush memory.
-        std::memcpy(data, constantPointer + offset, length);
-    }
-
-    return {};
-}
-
 nn::GeneralResult<std::vector<uint32_t>> countNumberOfConsumers(
         size_t numberOfOperands, const std::vector<nn::Operation>& operations) {
     return makeGeneralFailure(nn::countNumberOfConsumers(numberOfOperands, operations));
diff --git a/neuralnetworks/utils/common/src/InvalidBurst.cpp b/neuralnetworks/utils/common/src/InvalidBurst.cpp
index 0c34f05..0191533 100644
--- a/neuralnetworks/utils/common/src/InvalidBurst.cpp
+++ b/neuralnetworks/utils/common/src/InvalidBurst.cpp
@@ -38,4 +38,10 @@
     return NN_ERROR() << "InvalidBurst";
 }
 
+nn::GeneralResult<nn::SharedExecution> InvalidBurst::createReusableExecution(
+        const nn::Request& /*request*/, nn::MeasureTiming /*measure*/,
+        const nn::OptionalDuration& /*loopTimeoutDuration*/) const {
+    return NN_ERROR() << "InvalidBurst";
+}
+
 }  // namespace android::hardware::neuralnetworks::utils
diff --git a/neuralnetworks/utils/common/src/InvalidExecution.cpp b/neuralnetworks/utils/common/src/InvalidExecution.cpp
new file mode 100644
index 0000000..c4edd25
--- /dev/null
+++ b/neuralnetworks/utils/common/src/InvalidExecution.cpp
@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "InvalidExecution.h"
+
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/Types.h>
+
+#include <utility>
+#include <vector>
+
+namespace android::hardware::neuralnetworks::utils {
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>> InvalidExecution::compute(
+        const nn::OptionalTimePoint& /*deadline*/) const {
+    return NN_ERROR() << "InvalidExecution";
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>
+InvalidExecution::computeFenced(const std::vector<nn::SyncFence>& /*waitFor*/,
+                                const nn::OptionalTimePoint& /*deadline*/,
+                                const nn::OptionalDuration& /*timeoutDurationAfterFence*/) const {
+    return NN_ERROR() << "InvalidExecution";
+}
+
+}  // namespace android::hardware::neuralnetworks::utils
diff --git a/neuralnetworks/utils/common/src/InvalidPreparedModel.cpp b/neuralnetworks/utils/common/src/InvalidPreparedModel.cpp
index 9081e1f..8195462 100644
--- a/neuralnetworks/utils/common/src/InvalidPreparedModel.cpp
+++ b/neuralnetworks/utils/common/src/InvalidPreparedModel.cpp
@@ -42,6 +42,12 @@
     return NN_ERROR() << "InvalidPreparedModel";
 }
 
+nn::GeneralResult<nn::SharedExecution> InvalidPreparedModel::createReusableExecution(
+        const nn::Request& /*request*/, nn::MeasureTiming /*measure*/,
+        const nn::OptionalDuration& /*loopTimeoutDuration*/) const {
+    return NN_ERROR() << "InvalidPreparedModel";
+}
+
 nn::GeneralResult<nn::SharedBurst> InvalidPreparedModel::configureExecutionBurst() const {
     return NN_ERROR() << "InvalidPreparedModel";
 }
diff --git a/neuralnetworks/utils/common/src/ResilientBurst.cpp b/neuralnetworks/utils/common/src/ResilientBurst.cpp
index 38ccc62..79cbe39 100644
--- a/neuralnetworks/utils/common/src/ResilientBurst.cpp
+++ b/neuralnetworks/utils/common/src/ResilientBurst.cpp
@@ -19,6 +19,7 @@
 #include <android-base/logging.h>
 #include <android-base/thread_annotations.h>
 #include <nnapi/IBurst.h>
+#include <nnapi/IPreparedModel.h>
 #include <nnapi/Result.h>
 #include <nnapi/TypeUtils.h>
 #include <nnapi/Types.h>
@@ -29,6 +30,9 @@
 #include <optional>
 #include <utility>
 
+#include "InvalidExecution.h"
+#include "ResilientExecution.h"
+
 namespace android::hardware::neuralnetworks::utils {
 namespace {
 
@@ -46,11 +50,11 @@
     // Attempt recovery and return if it fails.
     auto maybeBurst = resilientBurst.recover(burst.get());
     if (!maybeBurst.has_value()) {
-        auto [resultErrorMessage, resultErrorCode, resultOutputShapes] = std::move(result).error();
-        const auto& [recoveryErrorMessage, recoveryErrorCode] = maybeBurst.error();
-        return nn::error(resultErrorCode, std::move(resultOutputShapes))
-               << resultErrorMessage << ", and failed to recover dead burst object with error "
-               << recoveryErrorCode << ": " << recoveryErrorMessage;
+        const auto& [message, code] = maybeBurst.error();
+        std::ostringstream oss;
+        oss << ", and failed to recover dead burst object with error " << code << ": " << message;
+        result.error().message += oss.str();
+        return result;
     }
     burst = std::move(maybeBurst).value();
 
@@ -109,4 +113,35 @@
     return protect(*this, fn);
 }
 
+nn::GeneralResult<nn::SharedExecution> ResilientBurst::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+#if 0
+    auto self = shared_from_this();
+    ResilientExecution::Factory makeExecution =
+            [burst = std::move(self), request, measure, loopTimeoutDuration] {
+        return burst->createReusableExecutionInternal(request, measure, loopTimeoutDuration);
+    };
+    return ResilientExecution::create(std::move(makeExecution));
+#else
+    return createReusableExecutionInternal(request, measure, loopTimeoutDuration);
+#endif
+}
+
+nn::GeneralResult<nn::SharedExecution> ResilientBurst::createReusableExecutionInternal(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+    if (!isValidInternal()) {
+        return std::make_shared<const InvalidExecution>();
+    }
+    const auto fn = [&request, measure, &loopTimeoutDuration](const nn::IBurst& burst) {
+        return burst.createReusableExecution(request, measure, loopTimeoutDuration);
+    };
+    return protect(*this, fn);
+}
+
+bool ResilientBurst::isValidInternal() const {
+    return true;
+}
+
 }  // namespace android::hardware::neuralnetworks::utils
diff --git a/neuralnetworks/utils/common/src/ResilientExecution.cpp b/neuralnetworks/utils/common/src/ResilientExecution.cpp
new file mode 100644
index 0000000..46b404a
--- /dev/null
+++ b/neuralnetworks/utils/common/src/ResilientExecution.cpp
@@ -0,0 +1,126 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "ResilientExecution.h"
+
+#include "InvalidBurst.h"
+#include "ResilientBurst.h"
+
+#include <android-base/logging.h>
+#include <android-base/thread_annotations.h>
+#include <nnapi/IExecution.h>
+#include <nnapi/Result.h>
+#include <nnapi/TypeUtils.h>
+#include <nnapi/Types.h>
+
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <sstream>
+#include <utility>
+#include <vector>
+
+namespace android::hardware::neuralnetworks::utils {
+namespace {
+
+template <typename FnType>
+auto protect(const ResilientExecution& resilientExecution, const FnType& fn)
+        -> decltype(fn(*resilientExecution.getExecution())) {
+    auto execution = resilientExecution.getExecution();
+    auto result = fn(*execution);
+
+    // Immediately return if prepared model is not dead.
+    if (result.has_value() || result.error().code != nn::ErrorStatus::DEAD_OBJECT) {
+        return result;
+    }
+
+    // Attempt recovery and return if it fails.
+    auto maybeExecution = resilientExecution.recover(execution.get());
+    if (!maybeExecution.has_value()) {
+        const auto& [message, code] = maybeExecution.error();
+        std::ostringstream oss;
+        oss << ", and failed to recover dead prepared model with error " << code << ": " << message;
+        result.error().message += oss.str();
+        return result;
+    }
+    execution = std::move(maybeExecution).value();
+
+    return fn(*execution);
+}
+
+}  // namespace
+
+nn::GeneralResult<std::shared_ptr<const ResilientExecution>> ResilientExecution::create(
+        Factory makeExecution) {
+    if (makeExecution == nullptr) {
+        return NN_ERROR(nn::ErrorStatus::INVALID_ARGUMENT)
+               << "utils::ResilientExecution::create must have non-empty makeExecution";
+    }
+    auto execution = NN_TRY(makeExecution());
+    CHECK(execution != nullptr);
+    return std::make_shared<ResilientExecution>(PrivateConstructorTag{}, std::move(makeExecution),
+                                                std::move(execution));
+}
+
+ResilientExecution::ResilientExecution(PrivateConstructorTag /*tag*/, Factory makeExecution,
+                                       nn::SharedExecution execution)
+    : kMakeExecution(std::move(makeExecution)), mExecution(std::move(execution)) {
+    CHECK(kMakeExecution != nullptr);
+    CHECK(mExecution != nullptr);
+}
+
+nn::SharedExecution ResilientExecution::getExecution() const {
+    std::lock_guard guard(mMutex);
+    return mExecution;
+}
+
+nn::GeneralResult<nn::SharedExecution> ResilientExecution::recover(
+        const nn::IExecution* failingExecution) const {
+    std::lock_guard guard(mMutex);
+
+    // Another caller updated the failing prepared model.
+    if (mExecution.get() != failingExecution) {
+        return mExecution;
+    }
+
+    mExecution = NN_TRY(kMakeExecution());
+    return mExecution;
+}
+
+nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>
+ResilientExecution::compute(const nn::OptionalTimePoint& deadline) const {
+    const auto fn = [&deadline](const nn::IExecution& execution) {
+        return execution.compute(deadline);
+    };
+    return protect(*this, fn);
+}
+
+nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>
+ResilientExecution::computeFenced(const std::vector<nn::SyncFence>& waitFor,
+                                  const nn::OptionalTimePoint& deadline,
+                                  const nn::OptionalDuration& timeoutDurationAfterFence) const {
+    const auto fn = [&waitFor, &deadline,
+                     &timeoutDurationAfterFence](const nn::IExecution& execution) {
+        return execution.computeFenced(waitFor, deadline, timeoutDurationAfterFence);
+    };
+    return protect(*this, fn);
+}
+
+bool ResilientExecution::isValidInternal() const {
+    return true;
+}
+
+}  // namespace android::hardware::neuralnetworks::utils
diff --git a/neuralnetworks/utils/common/src/ResilientPreparedModel.cpp b/neuralnetworks/utils/common/src/ResilientPreparedModel.cpp
index 5dd5f99..1ae19bc 100644
--- a/neuralnetworks/utils/common/src/ResilientPreparedModel.cpp
+++ b/neuralnetworks/utils/common/src/ResilientPreparedModel.cpp
@@ -17,7 +17,9 @@
 #include "ResilientPreparedModel.h"
 
 #include "InvalidBurst.h"
+#include "InvalidExecution.h"
 #include "ResilientBurst.h"
+#include "ResilientExecution.h"
 
 #include <android-base/logging.h>
 #include <android-base/thread_annotations.h>
@@ -127,6 +129,21 @@
     return protect(*this, fn);
 }
 
+nn::GeneralResult<nn::SharedExecution> ResilientPreparedModel::createReusableExecution(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+#if 0
+    auto self = shared_from_this();
+    ResilientExecution::Factory makeExecution =
+            [preparedModel = std::move(self), request, measure, loopTimeoutDuration] {
+        return preparedModel->createReusableExecutionInternal(request, measure, loopTimeoutDuration);
+    };
+    return ResilientExecution::create(std::move(makeExecution));
+#else
+    return createReusableExecutionInternal(request, measure, loopTimeoutDuration);
+#endif
+}
+
 nn::GeneralResult<nn::SharedBurst> ResilientPreparedModel::configureExecutionBurst() const {
 #if 0
     auto self = shared_from_this();
@@ -140,6 +157,19 @@
 #endif
 }
 
+nn::GeneralResult<nn::SharedExecution> ResilientPreparedModel::createReusableExecutionInternal(
+        const nn::Request& request, nn::MeasureTiming measure,
+        const nn::OptionalDuration& loopTimeoutDuration) const {
+    if (!isValidInternal()) {
+        return std::make_shared<const InvalidExecution>();
+    }
+    const auto fn = [&request, measure,
+                     &loopTimeoutDuration](const nn::IPreparedModel& preparedModel) {
+        return preparedModel.createReusableExecution(request, measure, loopTimeoutDuration);
+    };
+    return protect(*this, fn);
+}
+
 std::any ResilientPreparedModel::getUnderlyingResource() const {
     return getPreparedModel()->getUnderlyingResource();
 }
diff --git a/neuralnetworks/utils/common/test/MockExecution.h b/neuralnetworks/utils/common/test/MockExecution.h
new file mode 100644
index 0000000..91e3428
--- /dev/null
+++ b/neuralnetworks/utils/common/test/MockExecution.h
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_TEST_MOCK_EXECUTION
+#define ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_TEST_MOCK_EXECUTION
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <nnapi/IExecution.h>
+
+namespace android::nn {
+
+class MockExecution final : public IExecution {
+  public:
+    MOCK_METHOD((ExecutionResult<std::pair<std::vector<OutputShape>, Timing>>), compute,
+                (const OptionalTimePoint& deadline), (const, override));
+    MOCK_METHOD((GeneralResult<std::pair<SyncFence, ExecuteFencedInfoCallback>>), computeFenced,
+                (const std::vector<SyncFence>& waitFor, const OptionalTimePoint& deadline,
+                 const OptionalDuration& timeoutDurationAfterFence),
+                (const, override));
+};
+
+}  // namespace android::nn
+
+#endif  // ANDROID_HARDWARE_INTERFACES_NEURALNETWORKS_UTILS_COMMON_TEST_MOCK_EXECUTION
diff --git a/neuralnetworks/utils/common/test/MockPreparedModel.h b/neuralnetworks/utils/common/test/MockPreparedModel.h
index c004861..c8ce006 100644
--- a/neuralnetworks/utils/common/test/MockPreparedModel.h
+++ b/neuralnetworks/utils/common/test/MockPreparedModel.h
@@ -35,6 +35,10 @@
                  const OptionalDuration& loopTimeoutDuration,
                  const OptionalDuration& timeoutDurationAfterFence),
                 (const, override));
+    MOCK_METHOD((GeneralResult<SharedExecution>), createReusableExecution,
+                (const nn::Request& request, nn::MeasureTiming measure,
+                 const nn::OptionalDuration& loopTimeoutDuration),
+                (const, override));
     MOCK_METHOD(GeneralResult<SharedBurst>, configureExecutionBurst, (), (const, override));
     MOCK_METHOD(std::any, getUnderlyingResource, (), (const, override));
 };
diff --git a/neuralnetworks/utils/common/test/ResilientExecution.cpp b/neuralnetworks/utils/common/test/ResilientExecution.cpp
new file mode 100644
index 0000000..c0737fb
--- /dev/null
+++ b/neuralnetworks/utils/common/test/ResilientExecution.cpp
@@ -0,0 +1,260 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gmock/gmock.h>
+#include <nnapi/TypeUtils.h>
+#include <nnapi/Types.h>
+#include <nnapi/hal/ResilientExecution.h>
+#include <utility>
+#include "MockExecution.h"
+
+namespace android::hardware::neuralnetworks::utils {
+namespace {
+
+using ::testing::_;
+using ::testing::InvokeWithoutArgs;
+using ::testing::Return;
+
+using SharedMockExecution = std::shared_ptr<const nn::MockExecution>;
+using MockExecutionFactory = ::testing::MockFunction<nn::GeneralResult<nn::SharedExecution>()>;
+
+SharedMockExecution createMockExecution() {
+    return std::make_shared<const nn::MockExecution>();
+}
+
+std::tuple<SharedMockExecution, std::unique_ptr<MockExecutionFactory>,
+           std::shared_ptr<const ResilientExecution>>
+setup() {
+    auto mockExecution = std::make_shared<const nn::MockExecution>();
+
+    auto mockExecutionFactory = std::make_unique<MockExecutionFactory>();
+    EXPECT_CALL(*mockExecutionFactory, Call()).Times(1).WillOnce(Return(mockExecution));
+
+    auto buffer = ResilientExecution::create(mockExecutionFactory->AsStdFunction()).value();
+    return std::make_tuple(std::move(mockExecution), std::move(mockExecutionFactory),
+                           std::move(buffer));
+}
+
+constexpr auto makeError = [](nn::ErrorStatus status) {
+    return [status](const auto&... /*args*/) { return nn::error(status); };
+};
+const auto kReturnGeneralFailure = makeError(nn::ErrorStatus::GENERAL_FAILURE);
+const auto kReturnDeadObject = makeError(nn::ErrorStatus::DEAD_OBJECT);
+
+const auto kNoExecutionError =
+        nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>{};
+const auto kNoFencedExecutionError =
+        nn::GeneralResult<std::pair<nn::SyncFence, nn::ExecuteFencedInfoCallback>>(
+                std::make_pair(nn::SyncFence::createAsSignaled(), nullptr));
+
+}  // namespace
+
+TEST(ResilientExecutionTest, invalidExecutionFactory) {
+    // setup call
+    const auto invalidExecutionFactory = ResilientExecution::Factory{};
+
+    // run test
+    const auto result = ResilientExecution::create(invalidExecutionFactory);
+
+    // verify result
+    ASSERT_FALSE(result.has_value());
+    EXPECT_EQ(result.error().code, nn::ErrorStatus::INVALID_ARGUMENT);
+}
+
+TEST(ResilientExecutionTest, executionFactoryFailure) {
+    // setup call
+    const auto invalidExecutionFactory = kReturnGeneralFailure;
+
+    // run test
+    const auto result = ResilientExecution::create(invalidExecutionFactory);
+
+    // verify result
+    ASSERT_FALSE(result.has_value());
+    EXPECT_EQ(result.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(ResilientExecutionTest, getExecution) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+
+    // run test
+    const auto result = execution->getExecution();
+
+    // verify result
+    EXPECT_TRUE(result == mockExecution);
+}
+
+TEST(ResilientExecutionTest, compute) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    EXPECT_CALL(*mockExecution, compute(_)).Times(1).WillOnce(Return(kNoExecutionError));
+
+    // run test
+    const auto result = execution->compute({});
+
+    // verify result
+    ASSERT_TRUE(result.has_value())
+            << "Failed with " << result.error().code << ": " << result.error().message;
+}
+
+TEST(ResilientExecutionTest, computeError) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    EXPECT_CALL(*mockExecution, compute(_)).Times(1).WillOnce(kReturnGeneralFailure);
+
+    // run test
+    const auto result = execution->compute({});
+
+    // verify result
+    ASSERT_FALSE(result.has_value());
+    EXPECT_EQ(result.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(ResilientExecutionTest, computeDeadObjectFailedRecovery) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    EXPECT_CALL(*mockExecution, compute(_)).Times(1).WillOnce(kReturnDeadObject);
+    EXPECT_CALL(*mockExecutionFactory, Call()).Times(1).WillOnce(kReturnGeneralFailure);
+
+    // run test
+    const auto result = execution->compute({});
+
+    // verify result
+    ASSERT_FALSE(result.has_value());
+    EXPECT_EQ(result.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(ResilientExecutionTest, computeDeadObjectSuccessfulRecovery) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    EXPECT_CALL(*mockExecution, compute(_)).Times(1).WillOnce(kReturnDeadObject);
+    const auto recoveredMockExecution = createMockExecution();
+    EXPECT_CALL(*recoveredMockExecution, compute(_)).Times(1).WillOnce(Return(kNoExecutionError));
+    EXPECT_CALL(*mockExecutionFactory, Call()).Times(1).WillOnce(Return(recoveredMockExecution));
+
+    // run test
+    const auto result = execution->compute({});
+
+    // verify result
+    ASSERT_TRUE(result.has_value())
+            << "Failed with " << result.error().code << ": " << result.error().message;
+}
+
+TEST(ResilientExecutionTest, computeFenced) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    EXPECT_CALL(*mockExecution, computeFenced(_, _, _))
+            .Times(1)
+            .WillOnce(Return(kNoFencedExecutionError));
+
+    // run test
+    const auto result = execution->computeFenced({}, {}, {});
+
+    // verify result
+    ASSERT_TRUE(result.has_value())
+            << "Failed with " << result.error().code << ": " << result.error().message;
+}
+
+TEST(ResilientExecutionTest, computeFencedError) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    EXPECT_CALL(*mockExecution, computeFenced(_, _, _)).Times(1).WillOnce(kReturnGeneralFailure);
+
+    // run test
+    const auto result = execution->computeFenced({}, {}, {});
+
+    // verify result
+    ASSERT_FALSE(result.has_value());
+    EXPECT_EQ(result.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
+TEST(ResilientExecutionTest, computeFencedDeadObjectFailedRecovery) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    EXPECT_CALL(*mockExecution, computeFenced(_, _, _)).Times(1).WillOnce(kReturnDeadObject);
+    EXPECT_CALL(*mockExecutionFactory, Call()).Times(1).WillOnce(kReturnGeneralFailure);
+
+    // run test
+    const auto result = execution->computeFenced({}, {}, {});
+
+    // verify result
+    ASSERT_FALSE(result.has_value());
+    EXPECT_EQ(result.error().code, nn::ErrorStatus::DEAD_OBJECT);
+}
+
+TEST(ResilientExecutionTest, computeFencedDeadObjectSuccessfulRecovery) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    EXPECT_CALL(*mockExecution, computeFenced(_, _, _)).Times(1).WillOnce(kReturnDeadObject);
+    const auto recoveredMockExecution = createMockExecution();
+    EXPECT_CALL(*recoveredMockExecution, computeFenced(_, _, _))
+            .Times(1)
+            .WillOnce(Return(kNoFencedExecutionError));
+    EXPECT_CALL(*mockExecutionFactory, Call()).Times(1).WillOnce(Return(recoveredMockExecution));
+
+    // run test
+    const auto result = execution->computeFenced({}, {}, {});
+
+    // verify result
+    ASSERT_TRUE(result.has_value())
+            << "Failed with " << result.error().code << ": " << result.error().message;
+}
+
+TEST(ResilientExecutionTest, recover) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    const auto recoveredMockExecution = createMockExecution();
+    EXPECT_CALL(*mockExecutionFactory, Call()).Times(1).WillOnce(Return(recoveredMockExecution));
+
+    // run test
+    const auto result = execution->recover(mockExecution.get());
+
+    // verify result
+    ASSERT_TRUE(result.has_value())
+            << "Failed with " << result.error().code << ": " << result.error().message;
+    EXPECT_TRUE(result.value() == recoveredMockExecution);
+}
+
+TEST(ResilientExecutionTest, recoverFailure) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    const auto recoveredMockExecution = createMockExecution();
+    EXPECT_CALL(*mockExecutionFactory, Call()).Times(1).WillOnce(kReturnGeneralFailure);
+
+    // run test
+    const auto result = execution->recover(mockExecution.get());
+
+    // verify result
+    EXPECT_FALSE(result.has_value());
+}
+
+TEST(ResilientExecutionTest, someoneElseRecovered) {
+    // setup call
+    const auto [mockExecution, mockExecutionFactory, execution] = setup();
+    const auto recoveredMockExecution = createMockExecution();
+    EXPECT_CALL(*mockExecutionFactory, Call()).Times(1).WillOnce(Return(recoveredMockExecution));
+    execution->recover(mockExecution.get());
+
+    // run test
+    const auto result = execution->recover(mockExecution.get());
+
+    // verify result
+    ASSERT_TRUE(result.has_value())
+            << "Failed with " << result.error().code << ": " << result.error().message;
+    EXPECT_TRUE(result.value() == recoveredMockExecution);
+}
+
+}  // namespace android::hardware::neuralnetworks::utils
diff --git a/neuralnetworks/utils/common/test/ResilientPreparedModelTest.cpp b/neuralnetworks/utils/common/test/ResilientPreparedModelTest.cpp
index 6d86e10..d396ca8 100644
--- a/neuralnetworks/utils/common/test/ResilientPreparedModelTest.cpp
+++ b/neuralnetworks/utils/common/test/ResilientPreparedModelTest.cpp
@@ -55,6 +55,7 @@
 const auto kReturnGeneralFailure = makeError(nn::ErrorStatus::GENERAL_FAILURE);
 const auto kReturnDeadObject = makeError(nn::ErrorStatus::DEAD_OBJECT);
 
+const auto kNoCreateReusableExecutionError = nn::GeneralResult<nn::SharedExecution>{};
 const auto kNoExecutionError =
         nn::ExecutionResult<std::pair<std::vector<nn::OutputShape>, nn::Timing>>{};
 const auto kNoFencedExecutionError =
@@ -231,6 +232,36 @@
             << "Failed with " << result.error().code << ": " << result.error().message;
 }
 
+TEST(ResilientPreparedModelTest, createReusableExecution) {
+    // setup call
+    const auto [mockPreparedModel, mockPreparedModelFactory, preparedModel] = setup();
+    EXPECT_CALL(*mockPreparedModel, createReusableExecution(_, _, _))
+            .Times(1)
+            .WillOnce(Return(kNoCreateReusableExecutionError));
+
+    // run test
+    const auto result = preparedModel->createReusableExecution({}, {}, {});
+
+    // verify result
+    ASSERT_TRUE(result.has_value())
+            << "Failed with " << result.error().code << ": " << result.error().message;
+}
+
+TEST(ResilientPreparedModelTest, createReusableExecutionError) {
+    // setup call
+    const auto [mockPreparedModel, mockPreparedModelFactory, preparedModel] = setup();
+    EXPECT_CALL(*mockPreparedModel, createReusableExecution(_, _, _))
+            .Times(1)
+            .WillOnce(kReturnGeneralFailure);
+
+    // run test
+    const auto result = preparedModel->createReusableExecution({}, {}, {});
+
+    // verify result
+    ASSERT_FALSE(result.has_value());
+    EXPECT_EQ(result.error().code, nn::ErrorStatus::GENERAL_FAILURE);
+}
+
 TEST(ResilientPreparedModelTest, getUnderlyingResource) {
     // setup call
     const auto [mockPreparedModel, mockPreparedModelFactory, preparedModel] = setup();
diff --git a/power/stats/aidl/android/hardware/power/stats/EnergyConsumerResult.aidl b/power/stats/aidl/android/hardware/power/stats/EnergyConsumerResult.aidl
index 12d2042..66c8c8c 100644
--- a/power/stats/aidl/android/hardware/power/stats/EnergyConsumerResult.aidl
+++ b/power/stats/aidl/android/hardware/power/stats/EnergyConsumerResult.aidl
@@ -25,7 +25,7 @@
      */
     int id;
     /**
-     * Time since boot in milliseconds
+     * Time of data capture in milliseconds since boot (CLOCK_BOOTTIME clock)
      */
     long timestampMs;
     /**
@@ -38,4 +38,3 @@
      */
     EnergyConsumerAttribution[] attribution;
 }
-
diff --git a/power/stats/aidl/android/hardware/power/stats/EnergyMeasurement.aidl b/power/stats/aidl/android/hardware/power/stats/EnergyMeasurement.aidl
index d3e8f46..31fbaa8 100644
--- a/power/stats/aidl/android/hardware/power/stats/EnergyMeasurement.aidl
+++ b/power/stats/aidl/android/hardware/power/stats/EnergyMeasurement.aidl
@@ -23,7 +23,7 @@
      */
     int id;
     /**
-     * Approximate time of data capture in millseconds since boot
+     * Time of data capture in milliseconds since boot (CLOCK_BOOTTIME clock)
      */
     long timestampMs;
     /**
@@ -35,4 +35,3 @@
      */
     long energyUWs;
 }
-
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
index a8e1996..af14009 100644
--- a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
@@ -425,7 +425,10 @@
             return;
         }
 
-        batchingPeriodInNs = std::min(batchingPeriodInNs, maxBatchingTestTimeNs);
+        if (batchingPeriodInNs > maxBatchingTestTimeNs) {
+            batchingPeriodInNs = maxBatchingTestTimeNs;
+            minFifoCount = (uint32_t)(batchingPeriodInNs / minSamplingPeriodInNs);
+        }
 
         ALOGI("Test batching for %d ms", (int)(batchingPeriodInNs / 1000 / 1000));
 
@@ -448,7 +451,7 @@
                       false /*change collection*/);
 
         // 0.8 + 0.2 times the batching period
-        usleep(batchingPeriodInNs / 1000 * 8 / 10);
+        usleep(batchingPeriodInNs / 1000 * 2 / 10);
         ASSERT_EQ(flush(handle), Result::OK);
 
         // plus some time for the event to deliver
diff --git a/tetheroffload/control/1.1/ITetheringOffloadCallback.hal b/tetheroffload/control/1.1/ITetheringOffloadCallback.hal
index 7a7d56d..9c74641 100644
--- a/tetheroffload/control/1.1/ITetheringOffloadCallback.hal
+++ b/tetheroffload/control/1.1/ITetheringOffloadCallback.hal
@@ -26,8 +26,8 @@
 interface ITetheringOffloadCallback extends @1.0::ITetheringOffloadCallback {
     /**
      * Called when an asynchronous event is generated by the hardware
-     * management process. Events which are common for 1.0 and 1.1 HAL
-     * MUST be fired on both 1.0 and 1.1 callback.
+     * management process. Implementations that report events via this callback
+     * should not invoke onEvent of 1.0 HAL.
      */
     oneway onEvent_1_1(OffloadCallbackEvent event);
 };