We do not perceive anything directly. Our perceptions are constructs tuned by sensor sample inputs. But we can only sense small amounts at once and must create a simulation for it to make any sense at all.

But there is a delay in sensor data, and if we waited before trying to finalize the constructs then we would always be behind and not be able to dodge falling rocks or anything. So the simulation must not only integrate over samples and time but also be predictive.