diff --git a/.github/workflows/publish-wheels.yml b/.github/workflows/publish-wheels.yml
new file mode 100644
index 00000000..7d36b852
--- /dev/null
+++ b/.github/workflows/publish-wheels.yml
@@ -0,0 +1,58 @@
+name: Publish Wheels
+
+on:
+  push:
+    tags:
+      - "v[0-9]*"
+      - "test*"
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v5
+        with:
+          ref: ${{ github.ref }}
+          fetch-depth: 0
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Build wheel and sdist
+        run: |
+          python -m pip install --upgrade pip build
+          python -m build
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist/*
+
+  publish:
+    name: Publish to PyPI
+    needs: [build]
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: read
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist
+
+      - name: Publish to TestPyPI (test tags)
+        if: startsWith(github.ref, 'refs/tags/test')
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/
+          packages-dir: dist
+          skip-existing: true
+          verbose: true
+
+      - name: Publish to PyPI (real releases)
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist
diff --git a/.github/workflows/pull_request_closed.yml b/.github/workflows/pull_request_closed.yml
index 52ed0d63..42fd6b5b 100644
--- a/.github/workflows/pull_request_closed.yml
+++ b/.github/workflows/pull_request_closed.yml
@@ -19,11 +19,21 @@ jobs:
           ref: develop
           fetch-depth: 0
           token: ${{ secrets.BOT_ACCESS_TOKEN }}
+
       - name: Bump version
         run: ./.github/workflows/version_bumper.sh ./pyproject.toml
+        id: bump
+
       - name: Commit and push
         run: |
           git config user.name "AVSlabBot"
           git config user.email "cuavslab@gmail.com"
           git commit -a -m "[AUTO] Bump minor version number"
           git push
+
+      - name: Create tag
+        if: ${{ steps.bump.outputs.updated_version != '' }}
+        run: |
+          git tag -a "v${{ steps.bump.outputs.updated_version }}" \
+            -m "Release v${{ steps.bump.outputs.updated_version }}"
+          git push --tags
diff --git a/.github/workflows/version_bumper.sh b/.github/workflows/version_bumper.sh
index ae7d2465..ee19c165 100755
--- a/.github/workflows/version_bumper.sh
+++ b/.github/workflows/version_bumper.sh
@@ -23,12 +23,20 @@ if [[ $version_line =~ $regex ]]; then
     last_number=${BASH_REMATCH[2]}
     incremented_number=$((last_number + 1))
     updated_version=${BASH_REMATCH[1]}$incremented_number
-    
+
     # Update the version in the pyproject.toml file
     sed -i "s/version = \"${BASH_REMATCH[1]}${last_number}\"/version = \"$updated_version\"/" "$file"
-    
+
     echo "Version updated to $updated_version in $file"
 else
     echo "Error: Version not found in $file or not in X.Y.Z format"
     exit 1
-fi
\ No newline at end of file
+fi
+
+
+# Expose the update versions to GitHub Actions
+if [[ -n "${GITHUB_OUTPUT:-}" ]]; then
+  {
+    echo "updated_version=$updated_version"
+  } >> "$GITHUB_OUTPUT"
+fi