Traffic Signal State Detection

An example computer-implemented method includes: obtaining environment data descriptive of one or more traffic signal devices of a traffic control node in an environment of an autonomous vehicle; generating a control node graph based on the environment data including vertices respective to representations of the traffic signal devices and edges indicative of relationships between the representations of the traffic signal devices; providing the control node graph as input to a control node graph processing model operable to reduce the control node graph to a distilled representation of the control node graph encoding information about a state of the traffic control node; based on receipt of the control node graph as input, generating an output based on the control node graph processing model; generating a motion plan based on the output from the control node graph processing model; and controlling the autonomous vehicle based on the motion plan.