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Cyber-Physical Systems (CPS) continuously interact with their physical environments through software controllers that observe the environments and determine actions. Engineers can verify to what extent the CPS under analysis can achieve given goals by analyzing its Field Operational Test (FOT) logs. However, it is challenging to repeat many FOTs to obtain statistically significant results due to its cost and risk in practice. To address this challenge, simulation-based verification can be a good alternative for efficient CPS goal verification, but it requires an accurate virtual environment model that can replace the real environment that interacts with the CPS in a closed loop. This paper proposes a novel data-driven approach that automatically generates the virtual environment model from a small amount of FOT logs. We formally define the environment model generation problem and solve it using Imitation Learning (IL) algorithms. In addition, we propose three specific use cases of our approach in the evolutionary CPS development. To validate our approach, we conduct a case study using a simplified autonomous vehicle with a lane-keeping system. The case study results show that our approach can generate accurate virtual environment models for CPS goal verification at a low cost through simulations.