diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index b29819a1aa..76dc72c492 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -45,7 +45,7 @@
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
-  <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <arg name="traffic_light_recognition/use_ml_detector" default="true" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
   <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 9f00aabe4c..4ec0a10774 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -48,7 +48,7 @@
     <arg name="data_path" value="$(var data_path)"/>
 
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
-    <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="traffic_light_recognition/use_ml_detector" value="$(var traffic_light_recognition/use_ml_detector)"/>
     <arg name="traffic_light_recognition/fusion_only" value="false"/>
     <arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>
 
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 03044cf090..0cbe60de4f 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -75,7 +75,7 @@
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
-      <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
+      <arg name="traffic_light_recognition/use_ml_detector" value="false"/>
       <arg name="all_traffic_light_camera" value="$(var traffic_light_namespace)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>