Various aspects of the present disclosure generally relate to wireless communication. In some aspects, a first device may receive, from a second device, perception information for an environment of the first device based at least in part on a perception capability of the second device. The first device may generate a perception associated with a communication by the first device based at least in part on the perception information from the second device, where the perception indicates characteristics of the environment. The first device may adjust a parameter associated with the communication based at least in part on the perception. Numerous other aspects are described.