Yes, we directly perceive other minds

"This is the spirit in which Wittgenstein takes it to be the case that to perceive a person’s body just is to perceive his or her soul. In particular, correctly to perceive certain movements in the facial muscles just is to perceive worry, fear, or joy; correctly to perceive a certain pointing motion with the arm just is to perceive an intention to call our attention to something; correctly to perceive a certain tightening of the muscles and to hear a groan just is to perceive pain; and so forth. The claim is not that these mentalistic descriptions are reducible to a description of the bodily motions. The claim is rather that the mentalistic aspect and the bodily aspect form a kind of unity, just as with the sentence." -- Ed Feser

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