Secret-key generation and agreement based on wireless channel reciprocity offers a promising avenue for securing IoT networks. However, existing approaches predominantly rely on the similarity of instantaneous channel measurement samples between communicating devices. This narrow view of reciprocity is often impractical, as it is highly susceptible to noise, asynchronous sampling, channel fading, and other system-level imperfections -- all of which significantly impair key generation performance. Furthermore, the quantization step common in traditional schemes introduces irreversible errors, further limiting efficiency. In this work, we propose a novel approach for secret-key generation by using wavelet scattering networks to extract robust and reciprocal CSI features. Dimensionality reduction is applied to uncover hidden cluster structures, which are then used to build hidden Markov models for efficient key agreement. Our approach eliminates the need for quantization and effectively captures channel randomness. It achieves a 5x improvement in key generation rate compared to traditional benchmarks, providing a secure and efficient solution for key generation in resource-constrained IoT environments.