IoT firmware faces severe threats to security vulnerabilities. As an important method to detect vulnerabilities, recurring vulnerability detection has not been systematically studied in IoT firmware. In fact, existing methods would meet significant challenges from two aspects. First, firmware vulnerabilities are usually reported in texts without too much code-level information, e.g., security patches. Second, firmware images are released as binaries, making the analysis of known vulnerabilities and the detection of unknown vulnerabilities quite difficult.