diff --git a/.github/labeler.yaml b/.github/labeler.yaml
new file mode 100644
index 0000000000..df491a6e50
--- /dev/null
+++ b/.github/labeler.yaml
@@ -0,0 +1,16 @@
+"component:control":
+  - "*control*"
+"component:localization":
+  - "*localization*"
+"component:map":
+  - "*map*"
+"component:perception":
+  - "*perception*"
+"component:planning":
+  - "*planning*"
+"component:sensing":
+  - "*sensing*"
+"component:simulation":
+  - "*simulator*"
+"component:system":
+  - "*system*"
\ No newline at end of file
diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml
new file mode 100644
index 0000000000..ced7440f75
--- /dev/null
+++ b/.github/workflows/pr-labeler.yaml
@@ -0,0 +1,16 @@
+name: pr-labeler
+on:
+  pull_request_target:
+    types:
+      - opened
+      - edited
+      - synchronize
+
+jobs:
+  label:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v4
+        with:
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          configuration-path: .github/labeler.yaml
\ No newline at end of file