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I don't think the ~ expansion has been implemented, as the parameters exist on the nodes directly, providing just the name of the parameter (without ~) should be enough.

e.g. params.yaml:

minimal_publisher:
    ros__parameters:
        some_int: 42

diff on publisher_member_function:

--- a/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py
+++ b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py
@@ -33,6 +33,9 @@ class MinimalPublisher(Node):
         self.publisher_.publish(msg)
         self.get_logger().info('Publishing: "%s"' % msg.data)
         self.i += 1
+        print()
+        print(self.get_parameter('some_int')._value)
+        print()


 def main(args=None):

in terminal:

$ ros2 run examples_rclpy_minimal_publisher publisher_member_function __params:=params.yaml
[INFO] [minimal_publisher]: Publishing: "Hello World: 0"

42

[INFO] [minimal_publisher]: Publishing: "Hello World: 1"

42

HTH,