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Recently, several studies proposed methods to utilize some classes of optimization problems in designing deep neural networks to encode constraints that conventional layers cannot capture. However, these methods are still in their infancy and require special treatments, such as analyzing the KKT condition, for deriving the backpropagation formula. In this paper, we propose a new layer formulation called the fixed-point iteration (FPI) layer that facilitates the use of more complicated operations in deep networks. The backward FPI layer is also proposed for backpropagation, which is motivated by the recurrent back-propagation (RBP) algorithm. But in contrast to RBP, the backward FPI layer yields the gradient by a small network module without an explicit calculation of the Jacobian. In actual applications, both the forward and backward FPI layers can be treated as nodes in the computational graphs. All components in the proposed method are implemented at a high level of abstraction, which allows efficient higher-order differentiations on the nodes. In addition, we present two practical methods of the FPI layer, FPI_NN and FPI_GD, where the update operations of FPI are a small neural network module and a single gradient descent step based on a learnable cost function, respectively. FPI\_NN is intuitive, simple, and fast to train, while FPI_GD can be used for efficient training of energy networks that have been recently studied. While RBP and its related studies have not been applied to practical examples, our experiments show the FPI layer can be successfully applied to real-world problems such as image denoising, optical flow, and multi-label classification.