I. Introduction
With the rapid development of the Internet of Things (IoT), IoT devices have become much smaller, smarter, and more prevalent than ever before. Unfortunately, it has been widely reported that a variety of mainstream IoT devices and platforms such as Google Home [1], Amazon Alexa [2], [3] and Samsung SmartThings [4] have been secretly accessed by attackers without authorization. With the household penetration of smart home devices reaching 36.6% by the end of 2020 and being expected to hit 57.2% by 2025 [5], increasingly grave security threats have been posed to ordinary users and their everyday life.