The focus of wireless research is increasingly shifting toward 6G as 5G deployments get underway. At this juncture, it is essential to establish a vision of future communications to provide guidance for that research. In this paper, we attempt to paint a broad picture of communication needs and technologies in the timeframe of 6G. The future of connectivity is in the creation of digital twin worlds that are a true representation of the physical and biological worlds at every spatial and time instant, unifying our experience across these physical, biological and digital worlds. New themes are likely to emerge that will shape 6G system requirements and technologies, such as: (i) new man-machine interfaces created by a collection of multiple local devices acting in unison; (ii) ubiquitous universal computing distributed among multiple local devices and the cloud; (iii) multi-sensory data fusion to create multi-verse maps and new mixed-reality experiences; and (iv) precision sensing and actuation to control the physical world. With rapid advances in artificial intelligence, it has the potential to become the foundation for the 6G air interface and network, making data, compute and energy the new resources to be exploited for achieving superior performance. In addition, in this paper we discuss the other major technology transformations that are likely to define 6G: (i) cognitive spectrum sharing methods and new spectrum bands; (ii) the integration of localization and sensing capabilities into the system definition, (iii) the achievement of extreme performance requirements on latency and reliability; (iv) new network architecture paradigms involving sub-networks and RAN-Core convergence; and (v) new security and privacy schemes. © 2020 IEEE.