perceive

verbs

to become aware of through the senses
"I could perceive the ship coming over the horizon"
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become conscious of
"She finally perceived the futility of her protest"
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is a type of (narrower)
perceive (an idea or situation) mentally
"Now I see!"; "I just can't see your point"; "Does she realize how important this decision is?"; "I don't understand the idea"