This book provides an overall theory of perception and an account of knowledge and justification concerning the physical, the abstract, and the normative. It has the rigor appropriate for professionals but explains its main points using concrete examples. It accounts for two important aspects of perception on which philosophers have said too little: its relevance to a priori knowledge—traditionally conceived as independent of perception—and its role in human action. Overall, the book provides a full-scale account of perception, presents a theory of the a priori, and explains how perception guides action. It also clarifies the relation between action and practical reasoning; the notion of rational action; and the relation between propositional and practical knowledge. Part One develops a theory of perception as experiential, representational, and causally connected with its objects: as a discriminative response to those objects, embodying phenomenally distinctive elements; and as yielding rich information that underlies human knowledge. Part Two presents a theory of self-evidence and the a priori. The theory is perceptualist in explicating the apprehension of a priori truths by articulating its parallels to perception. The theory unifies empirical and a priori knowledge by clarifying their reliable connections with their objects—connections many have thought impossible for a priori knowledge as about the abstract. Part Three explores how perception guides action; the relation between knowing how and knowing that; the nature of reasons for action; the role of inference in determining action; and the overall conditions for rational action.