The connected and autonomous vehicles combined with deep reinforcement learning (DRL) are capable of handling complex driving scenarios. However, due to the random exploration feature of reinforcement learning (RL), unexpected actions and collisions that would be inevitable in the real world occur during training, resulting in property damage, injury, and loss of life. To address this issue, in this article, we propose a sophisticated safe DRL in autonomous lane changing that benefits from both exploration and optimization capabilities. The key idea is first to integrate the safety constraints into the RL algorithm to limit the actions that the agent can take during training, which is implemented by designing a vehicle convex occupancy approximation to estimate the candidate action set. Then, adaptive exploration strategies are used, in which an imaginary environment based on domain randomization is built to explore areas of the action–state space where it is uncertain about the outcomes. We present a Monte Carlo tree search to replace unsafe with safe action. The twin-delayed deep deterministic policy gradient is used as the RL algorithm to train action space agents. Experimental results show that our proposed framework significantly enhances safety during the lane-change process with faster and more stable learning than the other methods.

At present, public clouds have served millions of tenants. To provide reliable services, cloud vendors need to perceive health status of the cloud network by building a telemetry system to detect possible network failures. While telemetry systems for physical networks have been extensively studied, research on telemetry systems for virtual networks is still insufficient. Different from physical networks, we conclude that building a virtual network telemetry system faces new challenges of feasibility, efficiency, and effectiveness. Specifically, we need to 1) protect privacy of tenants and adapt to heterogeneous middleboxes at the data plane; 2) handle frequent virtual network topology updates and compress large-scale measurement paths for millions of tenants at the control plane; 3) analyze telemetry results to locate network failures at the analysis plane. To address these challenges, we present Zoonet, a proactive virtual network telemetry system for multi-tenant clouds. At the data plane, Zoonet uses host agent and arp-ping to protect tenants’ privacy and defines an elegant generalization of ping and traceroute, which can work on heterogeneous middleboxes. At the control plane, Zoonet conducts update batch processing and substantial probing path pruning to lessen the overhead. At the analysis plane, Zoonet reduces noises and aggregates alerts based on temporal and spatial correlation and conducts the hop-by-hop telemetry mode to locate failures. Zoonet has been deployed in Alibaba Cloud for over two years, covering tens of cloud regions, hundreds of thousands of servers. We become increasingly reliant on Zoonet as it reduces 86% of the personnel engaged in troubleshooting.

We present Zoonet, a proactive virtual network telemetry system for multi-tenant clouds. The requirements are to (1) cover hyper-scale virtual networks with millions of tenants and millions of VMs for top tenants; (2) handle frequent virtual topology changes due to tenants' configuration through flexible APIs; (3) adapt to heterogeneous middleboxes along the probing paths; (4) achieve VM-to-VM telemetry without breaking tenant privacy; (5) differentiate virtual and physical network problems. We argue existing physical network telemetry solutions fail to satisfy our needs due to either incomplete telemetry coverage or outrageous telemetry overhead. Zoonet sets an ambitious goal to provide VM-to-VM hop-by-hop telemetry for each tenant, which is achieved based on self-developed, customizable middleboxes via hundreds of person-months under close team collaboration. At the data plane, Zoonet defines an elegant generalization of ping and traceroute, but made to work on multi-tenant clouds with heterogeneous middleboxes. At the control plane, Zoonet conducts substantial probing path pruning and update batch processing to lessen the overhead. Zoonet has been deployed in Alibaba Cloud for over two years, covering tens of cloud regions, hundreds of thousands of servers. We become increasingly reliant on Zoonet as it reduces 86% of the personnel engaged in troubleshooting.