diff --git a/pcdet/config.py b/pcdet/config.py
new file mode 100644
index 0000000..02e5daf
--- /dev/null
+++ b/pcdet/config.py
@@ -0,0 +1,85 @@
+from pathlib import Path
+
+import yaml
+from easydict import EasyDict
+
+
+def log_config_to_file(cfg, pre='cfg', logger=None):
+    for key, val in cfg.items():
+        if isinstance(cfg[key], EasyDict):
+            logger.info('----------- %s -----------' % (key))
+            log_config_to_file(cfg[key], pre=pre + '.' + key, logger=logger)
+            continue
+        logger.info('%s.%s: %s' % (pre, key, val))
+
+
+def cfg_from_list(cfg_list, config):
+    """Set config keys via list (e.g., from command line)."""
+    from ast import literal_eval
+    assert len(cfg_list) % 2 == 0
+    for k, v in zip(cfg_list[0::2], cfg_list[1::2]):
+        key_list = k.split('.')
+        d = config
+        for subkey in key_list[:-1]:
+            assert subkey in d, 'NotFoundKey: %s' % subkey
+            d = d[subkey]
+        subkey = key_list[-1]
+        assert subkey in d, 'NotFoundKey: %s' % subkey
+        try:
+            value = literal_eval(v)
+        except:
+            value = v
+
+        if type(value) != type(d[subkey]) and isinstance(d[subkey], EasyDict):
+            key_val_list = value.split(',')
+            for src in key_val_list:
+                cur_key, cur_val = src.split(':')
+                val_type = type(d[subkey][cur_key])
+                cur_val = val_type(cur_val)
+                d[subkey][cur_key] = cur_val
+        elif type(value) != type(d[subkey]) and isinstance(d[subkey], list):
+            val_list = value.split(',')
+            for k, x in enumerate(val_list):
+                val_list[k] = type(d[subkey][0])(x)
+            d[subkey] = val_list
+        else:
+            assert type(value) == type(d[subkey]), \
+                'type {} does not match original type {}'.format(type(value), type(d[subkey]))
+            d[subkey] = value
+
+
+def merge_new_config(config, new_config):
+    if '_BASE_CONFIG_' in new_config:
+        with open(new_config['_BASE_CONFIG_'], 'r') as f:
+            try:
+                yaml_config = yaml.safe_load(f, Loader=yaml.FullLoader)
+            except:
+                yaml_config = yaml.safe_load(f)
+        config.update(EasyDict(yaml_config))
+
+    for key, val in new_config.items():
+        if not isinstance(val, dict):
+            config[key] = val
+            continue
+        if key not in config:
+            config[key] = EasyDict()
+        merge_new_config(config[key], val)
+
+    return config
+
+
+def cfg_from_yaml_file(cfg_file, config):
+    with open(cfg_file, 'r') as f:
+        try:
+            new_config = yaml.safe_load(f, Loader=yaml.FullLoader)
+        except:
+            new_config = yaml.safe_load(f)
+
+        merge_new_config(config=config, new_config=new_config)
+
+    return config
+
+
+cfg = EasyDict()
+cfg.ROOT_DIR = (Path(__file__).resolve().parent / '../').resolve()
+cfg.LOCAL_RANK = 0