Berkley made some good criticisms on Aristotle's theory of perception. [see Thomas Reid.] However this question seemed to have led philosophy down a never ending rabbit hole starting with Kant. After Kant there were numerous attempts to bridge the Mind Body gap. One very good attempt  is the approach of the school of intuitionists. This seems good to me because it avoids one fallacy of Hume--that reason can only tell about contradiction based on definitions. And these critiques of Berkley and Hume formed the basis of all Philosophy subsequent to Kant. [Taking away the false assumptions of Hume, topples the whole structure of German philosophy]

The Intuitionists (Prichard, Ross, Michael Huemer) hold we have direct aware of reality, not just of what is confined between out two ears  and that reason can do more that perceive contradiction --it can know universals