diff --git a/.github/labeler.yaml b/.github/labeler.yaml
new file mode 100644
index 0000000000..412523c3a3
--- /dev/null
+++ b/.github/labeler.yaml
@@ -0,0 +1,33 @@
+"type:ci":
+  - .github/**/*
+  - "*.json"
+  - "*.yaml"
+  - "*.cfg"
+  - .clang-format
+  - .gitignore
+  - .prettierignore
+"type:documentation":
+  - "**/*.md"
+  - "**/*.rst"
+  - "**/*.jpg"
+  - "**/*.png"
+  - "**/*.svg"
+"component:control":
+  - "**/*control*"
+"component:localization":
+  - "**/*localization*"
+"component:map":
+  - "**/*map*"
+"component:perception":
+  - "**/*perception*"
+"component:planning":
+  - "**/*planning*"
+"component:sensing":
+  - "**/*sensing*"
+"component:simulation":
+  - "**/*simulator*"
+"component:system":
+  - "**/*system*"
+"component:ui":
+  - "**/*.rviz"
+  - "**/rviz"
diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml
new file mode 100644
index 0000000000..d45067bee5
--- /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