I. Introduction
With the increase of mobile and Internet of Things devices [1], [2], an unprecedented amount of data is constantly generated by users, which accelerates the development of machine learning [3], [4]. However, due to data privacy and security concerns [5], [6], it is impractical and often unnecessary for traditional centralized machine learning [7], [8] to collect a large amount of data generated by the users and train a model on a central server. Recently, federated learning is proposed in [9]–[11] to mitigate these issues by training a shared model without access to the raw data of the users. Specifically, in the prevalent Federated Averaging algorithm [9], users train models with their local data and only upload the local model updates to the central server for model aggregation, thereby protecting the privacy of user data.