The modest readiness theory holds that the way an object’s spatial attributes are represented in visual experience is sometimes modulated by one or another form of covert action planning. The bold readiness theory argues for a stronger, constitutive claim: to perceive an object’s spatial properties just is to be prepared or ready to act in relation to the object in certain ways. We begin by examining J.G. Taylor’s “behavioral theory” of perception (Taylor 1962, 1965, 1968).