  Despite its technological benefits, Internet of Things (IoT) has cyber
weaknesses due to the vulnerabilities in the wireless medium. Machine learning
(ML)-based methods are widely used against cyber threats in IoT networks with
promising performance. Advanced persistent threat (APT) is prominent for
cybercriminals to compromise networks, and it is crucial to long-term and
harmful characteristics. However, it is difficult to apply ML-based approaches
to identify APT attacks to obtain a promising detection performance due to an
extremely small percentage among normal traffic. There are limited surveys to
fully investigate APT attacks in IoT networks due to the lack of public
datasets with all types of APT attacks. It is worth to bridge the
state-of-the-art in network attack detection with APT attack detection in a
comprehensive review article. This survey article reviews the security
challenges in IoT networks and presents the well-known attacks, APT attacks,
and threat models in IoT systems. Meanwhile, signature-based, anomaly-based,
and hybrid intrusion detection systems are summarized for IoT networks. The
article highlights statistical insights regarding frequently applied ML-based
methods against network intrusion alongside the number of attacks types
detected. Finally, open issues and challenges for common network intrusion and
APT attacks are presented for future research.
