diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 754d07c6d99bf..75245b416c944 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,33 +1,34 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Interface parameters -->
-  <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
+  <arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="use_detection_by_tracker"/>
+  <arg name="objects_validation_method"/>
 
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
+  <arg name="use_object_filter" description="use object filter"/>
+  <arg name="pointcloud_container_name"/>
 
   <!-- Camera parameters -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="image_raw1" default=""/>
-  <arg name="camera_info1" default=""/>
-  <arg name="image_raw2" default=""/>
-  <arg name="camera_info2" default=""/>
-  <arg name="image_raw3" default=""/>
-  <arg name="camera_info3" default=""/>
-  <arg name="image_raw4" default=""/>
-  <arg name="camera_info4" default=""/>
-  <arg name="image_raw5" default=""/>
-  <arg name="camera_info5" default=""/>
-  <arg name="image_raw6" default=""/>
-  <arg name="camera_info6" default=""/>
-  <arg name="image_raw7" default=""/>
-  <arg name="camera_info7" default=""/>
-  <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
+  <arg name="image_raw0"/>
+  <arg name="camera_info0"/>
+  <arg name="image_raw1"/>
+  <arg name="camera_info1"/>
+  <arg name="image_raw2"/>
+  <arg name="camera_info2"/>
+  <arg name="image_raw3"/>
+  <arg name="camera_info3"/>
+  <arg name="image_raw4"/>
+  <arg name="camera_info4"/>
+  <arg name="image_raw5"/>
+  <arg name="camera_info5"/>
+  <arg name="image_raw6"/>
+  <arg name="camera_info6"/>
+  <arg name="image_raw7"/>
+  <arg name="camera_info7"/>
+  <arg name="image_number"/>
 
   <!-- Radar parameters -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
index 7047aec77c660..d7bbcb01472eb 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Pipeline junctions -->
-  <arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
+  <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
 
   <!-- external interfaces -->
-  <arg name="input/objects" default="clustering/camera_lidar_fusion/objects"/>
-  <arg name="output/objects" default="clustering/camera_lidar_fusion/filtered/objects"/>
+  <arg name="input/objects"/>
+  <arg name="output/objects"/>
 
   <!-- Filter -->
   <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
index b3704f130232a..9a09ad2871e85 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Pipeline junctions -->
-  <arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
+  <arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
 
   <!-- external interfaces -->
-  <arg name="input/obstacle_pointcloud" default="pointcloud_map_filtered/pointcloud" description="Only required when 'obstacle_pointcloud'"/>
-  <arg name="input/objects" default="centerpoint/objects"/>
-  <arg name="output/objects" default="centerpoint/validation/objects"/>
+  <arg name="input/obstacle_pointcloud" description="Only required when 'obstacle_pointcloud'"/>
+  <arg name="input/objects"/>
+  <arg name="output/objects"/>
 
   <!-- Validator -->
   <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
index d837505649cf1..136871f347759 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
@@ -8,8 +8,8 @@
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
   <!-- External interfaces -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="output/objects" default="far_objects"/>
+  <arg name="input/radar"/>
+  <arg name="output/objects"/>
 
   <!-- Radar filter pipeline -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 9d1c4f27b6039..9c701adbf212f 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -85,8 +85,8 @@
     description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
   />
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="objects_filter_method" default="lanelet_filter"/>
-  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
+  <arg name="objects_validation_method" default="obstacle_pointcloud" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
   <arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>
 
   <!-- Traffic light recognition parameters -->
@@ -218,6 +218,7 @@
           <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
 
           <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+          <arg name="objects_validation_method" value="$(var objects_validation_method)"/>
           <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
           <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
           <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>