I. Introduction
Empowered by the Internet of Things (IoT) that provides ubiquitous sensing and computing capabilities to connect a broad range of things to the Internet [1], the IoT provides people’s lives with unprecedented possibilities for intelligence and automation in a variety of aspects, such as smart home [2], smart transportation [3], industrial production [4], etc. However, IoT has aroused serious concern about security and privacy, as data for training models contain users’ sensitive personal data [5]. Privacy concerns and data protection laws surrounding data sovereignty and jurisdiction prevent IoT data owners from openly sharing these data [6].