Can experience justify modal beliefs? A long tradition dating back to Descartes, Hume, and Kant, which denies that experience plays a justificatory role in modal justification, says ‘no’. Here, I answer ‘yes’. Specifically, I argue that perception justifies some of our modal beliefs, namely the perceptual ones. Using a naturalized reliabilist framework for perceptual justification, I argue that one of the assumptions perception makes about the world, which enables it to organize itself, is modal—namely, ‘objects presented within peripersonal space are (...) reachable and graspable’—such that relying on this modal assumption, perception outputs modal beliefs reliably, and so we can render perceptual modal justification as a function of the reliability of perception as a modal-belief-forming process. (shrink)