## 1 Introduction  
The Internet of Things (IoT) has become a cornerstone of modern networks. the IoT, a term synonymous with the interconnectivity of \"Things\", has led to internet-facing devices flooding the markets in recent years, with a prediction of approximately 25 billion devices by 2030 [1]. This rapid expansion has led many companies to release their IoT product into the growing market as fast as possible. Security is often a second thought, or not considered at all for many of these devices, as it would only slow down production. As such, the market overflows with an ocean of insecure, unprotected and, in some cases, hazardous IoT devices [2]. Indeed, the expansive Internet of Things has vastly spread the attack surface for the average citizen, likely exposing them in ways they do not even consider. For example, in 2021, the cloud-based security camera service Verkada was breached after malicious actors discovered viable admin credentials on the internet, exposing the live feeds of over 150,000 cameras worldwide [3]. These cameras were located in hospitals, classrooms, jails, factories and many other sensitive locations. Poor user privilege hygiene emerged as the leading cause of the breach, with over 100 Verkada personnel having'super admin' permissions. Even without the breach, this was a significant infringement of customers' privacy as these super admins had access to clients' live feeds, likely without the customers' knowledge. In the same year, critical national infrastructure was attacked in Florida, USA. This time, the target was a city's water treatment facility [3]. Malicious actors accessed a plant employee's computer remotely and, using the applications on this PC, adjusted the water's sodium hydroxide (NaOH) levels by a factor of 100. This might have proven to be one of history's most deadly cyber attacks, if not for swift intervention from the facility, readjusting the chemical levels. This attack illustrates the potential danger of outdated systems, which most critical national infrastructures rely upon, and the danger of omitting safety systems from critical infrastructure. If a safety system (for example, requiring two operators to authorise the change in chemical concentrations far outside normal specifications or the swiping of a physical key card to authorise the operation) was used, it would have made it much harder for attackers. Due to the unique, and often resource-constrained nature of the IoT ecosystem, traditional security practices cannot be easily applied. Extensive research has been conducted in signature-based intrusion detection systems (IDSs) and anomaly detection-based IDSs for IoT devices to detect cyber attacks. Typically, signature-based IDS relies on training with well-known normal and attack signatures, exhibiting high performance on previously encountered attacks but limited capability to handle unpredictable or unseen zero-day attacks. On the other hand, anomaly-based detectors operate by identifying deviations from the baseline, usually trained solely on normal behaviour. They excel at detecting unseen attacks but may not perform as well as signature-based approaches with well-known attacks. Parallel to the growth of IoT in recent years, artificial intelligence (AI) has seen substantial growth in activity and use, especially in security. Fully supervised AI approaches have been deployed for signature-based detection in IDSs and, more recently, semi-supervised and unsupervised approaches have been deployed for anomaly detection in IoT. These recent approaches will be reviewed in the related works Section 2. One main limiting factor disadvantage security operators is the lack of training data. This training data can be considered both from the perspective of training humans on attack patterns to understand and mitigate them and training automated AI-based detection methods. In our previous work [4], we discussed IoT security from a somewhat unconventional point of view, focusing on device power consumption (as a linear time series) rather than internet packets.