Data-Model Co-Driven Continuous Channel Map Construction: A Perceptive Foundation for Embodied Intelligent Agents in 6G Networks

Future 6G networks will host massive numbers of embodied intelligent agents, which require real-time channel awareness over continuous-space for autonomous decision-making. By pre-obtaining location-specific channel state information (CSI), channel map can be served as a foundational world model for embodied intelligence to achieve wireless channel perception. However, acquiring CSI via measurements is costly, so in practice only sparse observations are available, leaving agents “blind” to channel conditions at unvisited locations. Meanwhile, purely model-driven channel maps can provide dense CSI but often yields unsatisfactory accuracy and robustness, while purely data-driven interpolation from sparse measurements is computationally prohibitive for real-time updates. To address these challenges, this paper proposes a data–model co-driven (DMcD) framework that performs a two-stage interpolation toward a space-time continuous channel map, First, a hybrid ray tracing and geometry-based channel model (H-RT/GBSM) is developed to capture dynamic scatterers, providing dense, time-variant channel properties that match measurement statistics as a physically consistent prior. Then, an inductive edge-conditioned graph neural network (InductE-GNN) fuses the prior with sparse measurements to perform real-time spatial interpolation, enabling rapid online adaptation without retraining, ensuring the synchronization with the dynamic physical reality. Evaluations with measured datasets show that the proposed DMcD framework significantly outperforms data-only and model-only baselines, providing accurate and queryable channel information for embodied intelligent agents.