diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
index fe30397683..a05bdda099 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml
@@ -42,7 +42,6 @@
           max_object_angle: 0.785
 
       drivable_area_generation:
-        polygon_generation_method: "object_path_base" # choose "ego_path_base" and "object_path_base"
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 4b0a1ffc43..0c12624f3b 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -42,7 +42,13 @@
         ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
-        max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
+
+        no_stop_decision:
+          max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
+          min_acc: -1.0   # min acceleration [m/ss]
+          min_jerk: -1.0  # min jerk [m/sss]
+          max_jerk: 1.0   # max jerk [m/sss]
+
         stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
         ## param for yielding
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 4e77e0591f..00df2e2ced 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -14,8 +14,7 @@
         consider_wrong_direction_vehicle: false
       stuck_vehicle:
         use_stuck_stopline: true # stopline generated before the first conflicting area
-        stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
-        stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
+        stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
         stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
         # enable_front_car_decel_prediction: false # By default this feature is disabled
         # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
@@ -48,6 +47,7 @@
         denoise_kernel: 1.0 # [m]
         possible_object_bbox: [1.5, 2.5] # [m x m]
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
+        stop_release_margin_time: 1.5 # [s]
 
       enable_rtc:
         intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
index 71dc2ac600..251486dafd 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -37,7 +37,7 @@
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
         /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
-        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
 
         /autoware/vehicle/node_alive_monitoring: default
 
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 65b8ac20bd..cf5b2dd98c 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -93,5 +93,9 @@
 
     <!-- traffic light recognition -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
+    <arg name="traffic_light_fine_detector_model_path" value="$(find-pkg-share traffic_light_fine_detector)/data"/>
+    <arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
+    <arg name="traffic_light_classifier_model_path" value="$(find-pkg-share traffic_light_classifier)/data"/>
+    <arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>
 </launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 915a296d79..296d707b13 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2418,6 +2418,34 @@ Visualization Manager:
           Value: false
       Enabled: true
       Name: Control
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Map
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Sensing
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Localization
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Perception
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Planning
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Control
+      Enabled: false
+      Name: Debug
   Enabled: true
   Global Options:
     Background Color: 10; 10; 10