diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index ddcbbbaeae107..758918e32f1d5 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -82,8 +82,9 @@
       <arg name="output/objects" value="objects"/>
       <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
-      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+      <arg name="model_param_path" value="$(var lidar_model_param_path)/pointpainting.param.yaml"/>
+      <arg name="ml_package_param_path" value="$(var model_path)/pointpainting_ml_package.param.yaml"/>
+      <arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
 
       <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index ab89da7112b66..1563942d706af 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -18,8 +18,9 @@
         <arg name="output/objects" value="objects"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
-        <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+        <arg name="model_param_path" value="$(var lidar_model_param_path)/centerpoint.param.yaml"/>
+        <arg name="ml_package_param_path" value="$(var centerpoint_model_path)/$(var centerpoint_model_name)_ml_package.param.yaml"/>
+        <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
 
         <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
old mode 100755
new mode 100644
index 53ac6f4cafc28..30136bc8f47d0
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -1,26 +1,10 @@
 /**:
   ros__parameters:
-    trt_precision: fp16
     encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
     encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
-
-    model_params:
-      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-      paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
-      point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
-      max_voxel_size: 40000
-      point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
-      voxel_size: [0.32, 0.32, 8.0]
-      downsample_factor: 1
-      encoder_in_feature_size: 12
-      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-      has_variance: false
-      has_twist: false
-    densification_params:
-      world_frame_id: "map"
-      num_past_frames: 0
+    trt_precision: fp16
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.3
@@ -28,6 +12,10 @@
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
       score_threshold: 0.35
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    densification_params:
+      world_frame_id: "map"
+      num_past_frames: 1
     omp_params:
       # omp params
       num_threads: 1
diff --git a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
new file mode 100755
index 0000000000000..ca76a8ecf2dac
--- /dev/null
+++ b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml
@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
+      max_voxel_size: 40000
+      point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+      voxel_size: [0.32, 0.32, 8.0]
+      downsample_factor: 1
+      encoder_in_feature_size: 12
+      has_twist: false
+      has_variance: false
diff --git a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
index d50a3f97390ca..85e740d95ebd0 100644
--- a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
+++ b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md
@@ -33,17 +33,22 @@ The lidar points are projected onto the output of an image-only 2d object detect
 
 ### Core Parameters
 
-| Name                            | Type   | Default Value | Description                                                 |
-| ------------------------------- | ------ | ------------- | ----------------------------------------------------------- |
-| `score_threshold`               | float  | `0.4`         | detected objects with score less than threshold are ignored |
-| `densification_world_frame_id`  | string | `map`         | the world frame id to fuse multi-frame pointcloud           |
-| `densification_num_past_frames` | int    | `0`           | the number of past frames to fuse with the current frame    |
-| `trt_precision`                 | string | `fp16`        | TensorRT inference precision: `fp32` or `fp16`              |
-| `encoder_onnx_path`             | string | `""`          | path to VoxelFeatureEncoder ONNX file                       |
-| `encoder_engine_path`           | string | `""`          | path to VoxelFeatureEncoder TensorRT Engine file            |
-| `head_onnx_path`                | string | `""`          | path to DetectionHead ONNX file                             |
-| `head_engine_path`              | string | `""`          | path to DetectionHead TensorRT Engine file                  |
-| `build_only`                    | bool   | `false`       | shutdown the node after TensorRT engine file is built       |
+| Name                                             | Type         | Default Value             | Description                                                 |
+| ------------------------------------------------ | ------------ | ------------------------- | ----------------------------------------------------------- |
+| `encoder_onnx_path`                              | string       | `""`                      | path to VoxelFeatureEncoder ONNX file                       |
+| `encoder_engine_path`                            | string       | `""`                      | path to VoxelFeatureEncoder TensorRT Engine file            |
+| `head_onnx_path`                                 | string       | `""`                      | path to DetectionHead ONNX file                             |
+| `head_engine_path`                               | string       | `""`                      | path to DetectionHead TensorRT Engine file                  |
+| `build_only`                                     | bool         | `false`                   | shutdown the node after TensorRT engine file is built       |
+| `trt_precision`                                  | string       | `fp16`                    | TensorRT inference precision: `fp32` or `fp16`              |
+| `post_process_params.score_threshold`            | double       | `0.4`                     | detected objects with score less than threshold are ignored |
+| `post_process_params.yaw_norm_thresholds`        | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. |
+| `post_process_params.iou_nms_target_class_names` | list[string] | ["CAR"]                   | An array of class names to be target in NMS.                |
+| `post_process_params.iou_nms_search_distance_2d` | double       | 10.0                      | A maximum distance value to search the nearest objects.     |
+| `post_process_params.iou_nms_threshold`          | double       | 0.1                       | A threshold value of NMS using IoU score.                   |
+| `post_process_params.has_twist`                  | boolean      | false                     | Indicates whether the model outputs twist value.            |
+| `densification_params.world_frame_id`            | string       | `map`                     | the world frame id to fuse multi-frame pointcloud           |
+| `densification_params.num_past_frames`           | int          | `1`                       | the number of past frames to fuse with the current frame    |
 
 ## Assumptions / Known limits
 
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index 9236d7d789ed1..a22b2c2a13bda 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -21,8 +21,9 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
   <arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
-  <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/$(var model_name).param.yaml"/>
-  <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
+  <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting.param.yaml"/>
+  <arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
+  <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
@@ -48,6 +49,7 @@
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
         <param from="$(var model_param_path)" allow_substs="true"/>
+        <param from="$(var ml_package_param_path)" allow_substs="true"/>
         <param from="$(var sync_param_path)"/>
         <param from="$(var class_remapper_param_path)"/>
         <param name="rois_number" value="$(var input/rois_number)"/>
@@ -89,6 +91,7 @@
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
       <param from="$(var model_param_path)" allow_substs="true"/>
+      <param from="$(var ml_package_param_path)" allow_substs="true"/>
       <param from="$(var sync_param_path)"/>
       <param from="$(var class_remapper_param_path)"/>
       <param name="rois_number" value="$(var input/rois_number)"/>
diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
index bc8f0512263b6..57d8bc500f3c6 100644
--- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json
+++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json
@@ -6,71 +6,11 @@
     "pointpainting": {
       "type": "object",
       "properties": {
-        "model_params": {
-          "type": "object",
-          "description": "Parameters for model configuration.",
-          "properties": {
-            "class_names": {
-              "type": "array",
-              "description": "An array of class names will be predicted.",
-              "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
-              "uniqueItems": true
-            },
-            "paint_class_names": {
-              "type": "array",
-              "description": "An array of class names will be painted by PointPainting",
-              "default": ["CAR", "BICYCLE", "PEDESTRIAN"],
-              "uniqueItems": true
-            },
-            "point_feature_size": {
-              "type": "integer",
-              "description": "A number of channels of point feature layer.",
-              "default": 7
-            },
-            "max_voxel_size": {
-              "type": "integer",
-              "description": "A maximum size of voxel grid.",
-              "default": 40000
-            },
-            "point_cloud_range": {
-              "type": "array",
-              "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
-              "default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
-            },
-            "voxel_size": {
-              "type": "array",
-              "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
-              "default": [0.32, 0.32, 8.0]
-            },
-            "down_sample_factor": {
-              "type": "integer",
-              "description": "A scale factor of downsampling points",
-              "default": 1,
-              "minimum": 1
-            },
-            "encoder_in_feature_size": {
-              "type": "integer",
-              "description": "A size of encoder input feature channels.",
-              "default": 12
-            },
-            "yaw_norm_thresholds": {
-              "type": "array",
-              "description": "An array of distance threshold values of norm of yaw [rad].",
-              "default": [0.3, 0.3, 0.3, 0.3, 0.0],
-              "minimum": 0.0,
-              "maximum": 1.0
-            },
-            "has_variance": {
-              "type": "boolean",
-              "description": "Indicates whether the model outputs variance value.",
-              "default": false
-            },
-            "has_twist": {
-              "type": "boolean",
-              "description": "Indicates whether the model outputs twist value.",
-              "default": false
-            }
-          }
+        "trt_precision": {
+          "type": "string",
+          "description": "TensorRT inference precision.",
+          "default": "fp16",
+          "enum": ["fp32", "fp16"]
         },
         "densification_params": {
           "type": "object",
@@ -112,7 +52,7 @@
               "default": ["CAR"],
               "uniqueItems": true
             },
-            "iou_search_distance_2d": {
+            "iou_nms_search_distance_2d": {
               "type": "number",
               "description": "A maximum distance value to search the nearest objects.",
               "default": 10.0,
@@ -124,6 +64,23 @@
               "default": 0.1,
               "minimum": 0.0,
               "maximum": 1.0
+            },
+            "yaw_norm_thresholds": {
+              "type": "array",
+              "description": "An array of distance threshold values of norm of yaw [rad].",
+              "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "has_variance": {
+              "type": "boolean",
+              "description": "Indicates whether the model outputs variance value.",
+              "default": false
+            },
+            "has_twist": {
+              "type": "boolean",
+              "description": "Indicates whether the model outputs twist value.",
+              "default": false
             }
           }
         },
@@ -139,7 +96,7 @@
           }
         }
       },
-      "required": ["model_params", "densification_params", "post_process_params", "omp_params"]
+      "required": []
     }
   },
   "properties": {
diff --git a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
new file mode 100644
index 0000000000000..0f89d050c1828
--- /dev/null
+++ b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json
@@ -0,0 +1,74 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Point Painting ML model",
+  "type": "object",
+  "definitions": {
+    "pointpainting_ml_package": {
+      "type": "object",
+      "properties": {
+        "model_params": {
+          "type": "object",
+          "description": "Parameters for model configuration.",
+          "properties": {
+            "class_names": {
+              "type": "array",
+              "description": "An array of class names will be predicted.",
+              "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+              "uniqueItems": true
+            },
+            "paint_class_names": {
+              "type": "array",
+              "description": "An array of class names will be painted by PointPainting",
+              "default": ["CAR", "BICYCLE", "PEDESTRIAN"],
+              "uniqueItems": true
+            },
+            "point_feature_size": {
+              "type": "integer",
+              "description": "A number of channels of point feature layer.",
+              "default": 7
+            },
+            "max_voxel_size": {
+              "type": "integer",
+              "description": "A maximum size of voxel grid.",
+              "default": 40000
+            },
+            "point_cloud_range": {
+              "type": "array",
+              "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+              "default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+            },
+            "voxel_size": {
+              "type": "array",
+              "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+              "default": [0.32, 0.32, 8.0]
+            },
+            "down_sample_factor": {
+              "type": "integer",
+              "description": "A scale factor of downsampling points",
+              "default": 1,
+              "minimum": 1
+            },
+            "encoder_in_feature_size": {
+              "type": "integer",
+              "description": "A size of encoder input feature channels.",
+              "default": 12
+            }
+          }
+        }
+      },
+      "required": []
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/pointpainting_ml_package"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
index c4c5941be5fec..2c33df0b65afc 100644
--- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
+++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -102,7 +102,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
   const float circle_nms_dist_threshold = static_cast<float>(
     this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
   const auto yaw_norm_thresholds =
-    this->declare_parameter<std::vector<double>>("model_params.yaw_norm_thresholds");
+    this->declare_parameter<std::vector<double>>("post_process_params.yaw_norm_thresholds");
   // densification param
   const std::string densification_world_frame_id =
     this->declare_parameter<std::string>("densification_params.world_frame_id");
@@ -140,8 +140,8 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
       isClassTable_.erase(cls);
     }
   }
-  has_variance_ = this->declare_parameter<bool>("has_variance");
   has_twist_ = this->declare_parameter<bool>("model_params.has_twist");
+  has_variance_ = this->declare_parameter<bool>("model_params.has_variance");
   const std::size_t point_feature_size = static_cast<std::size_t>(
     this->declare_parameter<std::int64_t>("model_params.point_feature_size"));
   const std::size_t max_voxel_size =
diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
index ed71349d5bd7f..09cee5266760c 100644
--- a/perception/lidar_centerpoint/README.md
+++ b/perception/lidar_centerpoint/README.md
@@ -30,20 +30,22 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 
 ### Core Parameters
 
-| Name                            | Type         | Default Value | Description                                                   |
-| ------------------------------- | ------------ | ------------- | ------------------------------------------------------------- |
-| `score_threshold`               | float        | `0.4`         | detected objects with score less than threshold are ignored   |
-| `densification_world_frame_id`  | string       | `map`         | the world frame id to fuse multi-frame pointcloud             |
-| `densification_num_past_frames` | int          | `1`           | the number of past frames to fuse with the current frame      |
-| `trt_precision`                 | string       | `fp16`        | TensorRT inference precision: `fp32` or `fp16`                |
-| `encoder_onnx_path`             | string       | `""`          | path to VoxelFeatureEncoder ONNX file                         |
-| `encoder_engine_path`           | string       | `""`          | path to VoxelFeatureEncoder TensorRT Engine file              |
-| `head_onnx_path`                | string       | `""`          | path to DetectionHead ONNX file                               |
-| `head_engine_path`              | string       | `""`          | path to DetectionHead TensorRT Engine file                    |
-| `nms_iou_target_class_names`    | list[string] | -             | target classes for IoU-based Non Maximum Suppression          |
-| `nms_iou_search_distance_2d`    | double       | -             | If two objects are farther than the value, NMS isn't applied. |
-| `nms_iou_threshold`             | double       | -             | IoU threshold for the IoU-based Non Maximum Suppression       |
-| `build_only`                    | bool         | `false`       | shutdown the node after TensorRT engine file is built         |
+| Name                                             | Type         | Default Value             | Description                                                   |
+| ------------------------------------------------ | ------------ | ------------------------- | ------------------------------------------------------------- |
+| `encoder_onnx_path`                              | string       | `""`                      | path to VoxelFeatureEncoder ONNX file                         |
+| `encoder_engine_path`                            | string       | `""`                      | path to VoxelFeatureEncoder TensorRT Engine file              |
+| `head_onnx_path`                                 | string       | `""`                      | path to DetectionHead ONNX file                               |
+| `head_engine_path`                               | string       | `""`                      | path to DetectionHead TensorRT Engine file                    |
+| `build_only`                                     | bool         | `false`                   | shutdown the node after TensorRT engine file is built         |
+| `trt_precision`                                  | string       | `fp16`                    | TensorRT inference precision: `fp32` or `fp16`                |
+| `post_process_params.score_threshold`            | double       | `0.4`                     | detected objects with score less than threshold are ignored   |
+| `post_process_params.yaw_norm_thresholds`        | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad].   |
+| `post_process_params.iou_nms_target_class_names` | list[string] | -                         | target classes for IoU-based Non Maximum Suppression          |
+| `post_process_params.iou_nms_search_distance_2d` | double       | -                         | If two objects are farther than the value, NMS isn't applied. |
+| `post_process_params.iou_nms_threshold`          | double       | -                         | IoU threshold for the IoU-based Non Maximum Suppression       |
+| `post_process_params.has_twist`                  | boolean      | false                     | Indicates whether the model outputs twist value.              |
+| `densification_params.world_frame_id`            | string       | `map`                     | the world frame id to fuse multi-frame pointcloud             |
+| `densification_params.num_past_frames`           | int          | `1`                       | the number of past frames to fuse with the current frame      |
 
 ### The `build_only` option
 
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index 38c57285e552d..17ed9a447cdb8 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -1,27 +1,19 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 4
-    max_voxel_size: 40000
-    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
-    voxel_size: [0.32, 0.32, 10.0]
-    downsample_factor: 1
-    encoder_in_feature_size: 9
-    # post-process params
-    circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    score_threshold: 0.35
-    has_variance: false
-    has_twist: false
-    trt_precision: fp16
-    densification_num_past_frames: 1
-    densification_world_frame_id: map
-
     # weight files
     encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
     encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+    trt_precision: fp16
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      score_threshold: 0.35
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1
diff --git a/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
new file mode 100644
index 0000000000000..c8d17890e33be
--- /dev/null
+++ b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 4
+      max_voxel_size: 40000
+      point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+      voxel_size: [0.32, 0.32, 10.0]
+      downsample_factor: 1
+      encoder_in_feature_size: 9
+      has_variance: false
+      has_twist: false
diff --git a/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml
deleted file mode 100644
index c217f6321381a..0000000000000
--- a/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml
+++ /dev/null
@@ -1,27 +0,0 @@
-/**:
-  ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 4
-    max_voxel_size: 40000
-    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
-    voxel_size: [0.32, 0.32, 10.0]
-    downsample_factor: 1
-    encoder_in_feature_size: 9
-    # post-process params
-    circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    score_threshold: 0.35
-    has_variance: true
-    has_twist: true
-    trt_precision: fp16
-    densification_num_past_frames: 1
-    densification_world_frame_id: map
-
-    # weight files
-    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
-    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
-    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
-    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
diff --git a/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml
new file mode 100644
index 0000000000000..c8d17890e33be
--- /dev/null
+++ b/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 4
+      max_voxel_size: 40000
+      point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+      voxel_size: [0.32, 0.32, 10.0]
+      downsample_factor: 1
+      encoder_in_feature_size: 9
+      has_variance: false
+      has_twist: false
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
deleted file mode 100644
index 35e11e61e9634..0000000000000
--- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
+++ /dev/null
@@ -1,27 +0,0 @@
-/**:
-  ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 4
-    max_voxel_size: 40000
-    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
-    voxel_size: [0.32, 0.32, 10.0]
-    downsample_factor: 2
-    encoder_in_feature_size: 9
-    # post-process params
-    circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    score_threshold: 0.35
-    has_variance: false
-    has_twist: false
-    trt_precision: fp16
-    densification_num_past_frames: 1
-    densification_world_frame_id: map
-
-    # weight files
-    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
-    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
-    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
-    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
new file mode 100644
index 0000000000000..2a3f9c8e75290
--- /dev/null
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 4
+      max_voxel_size: 40000
+      point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+      voxel_size: [0.32, 0.32, 10.0]
+      downsample_factor: 2
+      encoder_in_feature_size: 9
+      has_variance: false
+      has_twist: false
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index 5489af2c8fb60..7b2441578a14c 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -5,8 +5,9 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
-  <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
+  <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/centerpoint.param.yaml"/>
+  <arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
+  <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
   <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
@@ -18,6 +19,7 @@
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
         <param from="$(var model_param_path)" allow_substs="true"/>
+        <param from="$(var ml_package_param_path)" allow_substs="true"/>
         <param from="$(var class_remapper_param_path)"/>
 
         <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
@@ -30,6 +32,7 @@
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
       <param from="$(var model_param_path)" allow_substs="true"/>
+      <param from="$(var ml_package_param_path)" allow_substs="true"/>
       <param from="$(var class_remapper_param_path)"/>
 
       <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
diff --git a/perception/lidar_centerpoint/schema/centerpoint.schemal.json b/perception/lidar_centerpoint/schema/centerpoint.schemal.json
new file mode 100644
index 0000000000000..b11c115cc2466
--- /dev/null
+++ b/perception/lidar_centerpoint/schema/centerpoint.schemal.json
@@ -0,0 +1,98 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Lidar Centerpoint Node",
+  "type": "object",
+  "definitions": {
+    "centerpoint": {
+      "type": "object",
+      "properties": {
+        "trt_precision": {
+          "type": "string",
+          "description": "TensorRT inference precision.",
+          "default": "fp16",
+          "enum": ["fp32", "fp16"]
+        },
+        "post_process_params": {
+          "type": "object",
+          "properties": {
+            "score_threshold": {
+              "type": "number",
+              "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
+              "default": 0.35,
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "yaw_norm_thresholds": {
+              "type": "array",
+              "description": "An array of distance threshold values of norm of yaw [rad].",
+              "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "circle_nms_dist_threshold": {
+              "type": "number",
+              "description": "",
+              "default": 0.5,
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "iou_nms_target_class_names": {
+              "type": "array",
+              "description": "An array of class names to be target in NMS.",
+              "default": ["CAR"],
+              "uniqueItems": true
+            },
+            "iou_nms_search_distance_2d": {
+              "type": "number",
+              "description": "A maximum distance value to search the nearest objects.",
+              "default": 10.0,
+              "minimum": 0.0
+            },
+            "iou_nms_threshold": {
+              "type": "number",
+              "description": "A threshold value of NMS using IoU score.",
+              "default": 0.1,
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "has_twist": {
+              "type": "boolean",
+              "description": "Indicates whether the model outputs twist value.",
+              "default": false
+            }
+          }
+        },
+        "densification_params": {
+          "type": "object",
+          "description": "Parameters for pointcloud densification.",
+          "properties": {
+            "world_frame_id": {
+              "type": "string",
+              "description": "A name of frame id where world coordinates system is defined with respect to.",
+              "default": "map"
+            },
+            "num_past_frames": {
+              "type": "integer",
+              "description": "A number of past frames to be considered as same input frame.",
+              "default": 1,
+              "minimum": 0
+            }
+          }
+        }
+      },
+      "required": ["post_process_params", "densification_params"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/centerpoint"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json
new file mode 100644
index 0000000000000..2c5655c6201ed
--- /dev/null
+++ b/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json
@@ -0,0 +1,68 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Centerpoint ML model",
+  "type": "object",
+  "definitions": {
+    "centerpoint_ml_package": {
+      "type": "object",
+      "properties": {
+        "model_params": {
+          "type": "object",
+          "description": "Parameters for model configuration.",
+          "properties": {
+            "class_names": {
+              "type": "array",
+              "description": "An array of class names will be predicted.",
+              "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+              "uniqueItems": true
+            },
+            "point_feature_size": {
+              "type": "integer",
+              "description": "A number of channels of point feature layer.",
+              "default": 4
+            },
+            "max_voxel_size": {
+              "type": "integer",
+              "description": "A maximum size of voxel grid.",
+              "default": 40000
+            },
+            "point_cloud_range": {
+              "type": "array",
+              "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+              "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+            },
+            "voxel_size": {
+              "type": "array",
+              "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+              "default": [0.32, 0.32, 10.0]
+            },
+            "down_sample_factor": {
+              "type": "integer",
+              "description": "A scale factor of downsampling points",
+              "default": 1,
+              "minimum": 1
+            },
+            "encoder_in_feature_size": {
+              "type": "integer",
+              "description": "A size of encoder input feature channels.",
+              "default": 9
+            }
+          }
+        }
+      },
+      "required": ["model_params"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/centerpoint_ml_package"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json
new file mode 100644
index 0000000000000..55329e21ea8ab
--- /dev/null
+++ b/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json
@@ -0,0 +1,68 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Centerpoint Tiny ML model",
+  "type": "object",
+  "definitions": {
+    "centerpoint_tiny_ml_package": {
+      "type": "object",
+      "properties": {
+        "model_params": {
+          "type": "object",
+          "description": "Parameters for model configuration.",
+          "properties": {
+            "class_names": {
+              "type": "array",
+              "description": "An array of class names will be predicted.",
+              "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+              "uniqueItems": true
+            },
+            "point_feature_size": {
+              "type": "integer",
+              "description": "A number of channels of point feature layer.",
+              "default": 4
+            },
+            "max_voxel_size": {
+              "type": "integer",
+              "description": "A maximum size of voxel grid.",
+              "default": 40000
+            },
+            "point_cloud_range": {
+              "type": "array",
+              "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+              "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+            },
+            "voxel_size": {
+              "type": "array",
+              "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+              "default": [0.32, 0.32, 10.0]
+            },
+            "down_sample_factor": {
+              "type": "integer",
+              "description": "A scale factor of downsampling points",
+              "default": 2,
+              "minimum": 1
+            },
+            "encoder_in_feature_size": {
+              "type": "integer",
+              "description": "A size of encoder input feature channels.",
+              "default": 9
+            }
+          }
+        }
+      },
+      "required": ["model_params"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/centerpoint_tiny_ml_package"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}
diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp
index 0606a2ec55c9e..d0abf72d888d3 100644
--- a/perception/lidar_centerpoint/src/node.cpp
+++ b/perception/lidar_centerpoint/src/node.cpp
@@ -39,34 +39,35 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
 : Node("lidar_center_point", node_options), tf_buffer_(this->get_clock())
 {
   const float score_threshold =
-    static_cast<float>(this->declare_parameter<double>("score_threshold", 0.35));
-  const float circle_nms_dist_threshold =
-    static_cast<float>(this->declare_parameter<double>("circle_nms_dist_threshold"));
+    static_cast<float>(this->declare_parameter<double>("post_process_params.score_threshold"));
+  const float circle_nms_dist_threshold = static_cast<float>(
+    this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
   const auto yaw_norm_thresholds =
-    this->declare_parameter<std::vector<double>>("yaw_norm_thresholds");
+    this->declare_parameter<std::vector<double>>("post_process_params.yaw_norm_thresholds");
   const std::string densification_world_frame_id =
-    this->declare_parameter("densification_world_frame_id", "map");
+    this->declare_parameter<std::string>("densification_params.world_frame_id");
   const int densification_num_past_frames =
-    this->declare_parameter("densification_num_past_frames", 1);
-  const std::string trt_precision = this->declare_parameter("trt_precision", "fp16");
+    this->declare_parameter<int>("densification_params.num_past_frames");
+  const std::string trt_precision = this->declare_parameter<std::string>("trt_precision");
   const std::string encoder_onnx_path = this->declare_parameter<std::string>("encoder_onnx_path");
   const std::string encoder_engine_path =
     this->declare_parameter<std::string>("encoder_engine_path");
   const std::string head_onnx_path = this->declare_parameter<std::string>("head_onnx_path");
   const std::string head_engine_path = this->declare_parameter<std::string>("head_engine_path");
-  class_names_ = this->declare_parameter<std::vector<std::string>>("class_names");
-  has_variance_ = this->declare_parameter<bool>("has_variance");
-  has_twist_ = this->declare_parameter<bool>("has_twist");
-  const std::size_t point_feature_size =
-    static_cast<std::size_t>(this->declare_parameter<std::int64_t>("point_feature_size"));
+  class_names_ = this->declare_parameter<std::vector<std::string>>("model_params.class_names");
+  has_twist_ = this->declare_parameter<bool>("model_params.has_twist");
+  const std::size_t point_feature_size = static_cast<std::size_t>(
+    this->declare_parameter<std::int64_t>("model_params.point_feature_size"));
+  has_variance_ = this->declare_parameter<bool>("model_params.has_variance");
   const std::size_t max_voxel_size =
-    static_cast<std::size_t>(this->declare_parameter<std::int64_t>("max_voxel_size"));
-  const auto point_cloud_range = this->declare_parameter<std::vector<double>>("point_cloud_range");
-  const auto voxel_size = this->declare_parameter<std::vector<double>>("voxel_size");
-  const std::size_t downsample_factor =
-    static_cast<std::size_t>(this->declare_parameter<std::int64_t>("downsample_factor"));
-  const std::size_t encoder_in_feature_size =
-    static_cast<std::size_t>(this->declare_parameter<std::int64_t>("encoder_in_feature_size"));
+    static_cast<std::size_t>(this->declare_parameter<std::int64_t>("model_params.max_voxel_size"));
+  const auto point_cloud_range =
+    this->declare_parameter<std::vector<double>>("model_params.point_cloud_range");
+  const auto voxel_size = this->declare_parameter<std::vector<double>>("model_params.voxel_size");
+  const std::size_t downsample_factor = static_cast<std::size_t>(
+    this->declare_parameter<std::int64_t>("model_params.downsample_factor"));
+  const std::size_t encoder_in_feature_size = static_cast<std::size_t>(
+    this->declare_parameter<std::int64_t>("model_params.encoder_in_feature_size"));
   const auto allow_remapping_by_area_matrix =
     this->declare_parameter<std::vector<int64_t>>("allow_remapping_by_area_matrix");
   const auto min_area_matrix = this->declare_parameter<std::vector<double>>("min_area_matrix");
@@ -78,10 +79,11 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
   {
     NMSParams p;
     p.nms_type_ = NMS_TYPE::IoU_BEV;
-    p.target_class_names_ =
-      this->declare_parameter<std::vector<std::string>>("iou_nms_target_class_names");
-    p.search_distance_2d_ = this->declare_parameter<double>("iou_nms_search_distance_2d");
-    p.iou_threshold_ = this->declare_parameter<double>("iou_nms_threshold");
+    p.target_class_names_ = this->declare_parameter<std::vector<std::string>>(
+      "post_process_params.iou_nms_target_class_names");
+    p.search_distance_2d_ =
+      this->declare_parameter<double>("post_process_params.iou_nms_search_distance_2d");
+    p.iou_threshold_ = this->declare_parameter<double>("post_process_params.iou_nms_threshold");
     iou_bev_nms_.setParameters(p);
   }