Introduction
Along with the booming development of fifth-generation (5G) wireless communication and artificial intelligence (AI) technology, many intel-ligent manufacturers in Industry 4.0, equipped with advanced sensors, collect a large amount of Internet of Things (IoT) data and perform data analysis and modeling through AI technologies to improve market insight and customer service [1]. Artificial Intelligence of Things (AIoT) on Industry 4.0 combines AI with IoT technology, which is bound to bring new insights for these manufac-turers to cope with the rapid transformation of data and to make smarter production decisions. Collaborative learning plays a vital role in AIoT, enabling a manufacturer (i.e., a model demander) to jointly build machine learning (ML) models on the data gathered from all stages of production and operation, with multiple Industrial IoT (IIoT) organizations (i.e., data owners). Compared to the other popular paradigm, federated learning (FL), for secure ML on distributed datasets, collab-orative learning generally emphasizes the privacy preservation of trained models against data owners, which is more suitable for the scenarios of AIoT on Industry 4.0 where the model demander is unwilling to share trained models with data owners. The model in FL is known by every data owner, which ignores the security requirement of model demanders [2].