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Reading a qubit is a fundamental operation in quantum computing. It translates quantum information into classical information enabling subsequent classification to assign the qubit states `0' or `1'. Unfortunately, qubit readout is one of the most error-prone and slowest operations on a superconducting quantum processor. On state-of-the-art superconducting quantum processors, readout errors can range from 1-10%. High readout accuracy is essential for enabling high fidelity for near-term noisy quantum computers and error-corrected quantum computers of the future. Prior works have used machine-learning-assisted single-shot qubit-state classification, where a deep neural network was used for more robust discrimination by compensating for crosstalk errors. However, the neural network size can limit the scalability of systems, especially if fast hardware discrimination is required. This state-of-the-art baseline design cannot be implemented on off-the-shelf FPGAs used for the control and readout of superconducting qubits in most systems, which increases the overall readout latency as discrimination has to be performed in software. In this work, we propose HERQULES, a scalable approach to improve qubit-state discrimination by using a hierarchy of matched filters in conjunction with a significantly smaller and scalable neural network for qubit-state discrimination. We achieve substantially higher readout accuracies (16.4% relative improvement) than the baseline with a scalable design that can be readily implemented on off-the-shelf FPGAs. We also show that HERQULES is more versatile and can support shorter readout durations than the baseline design without additional training overheads.