George Berkeley improved upon John Locke's empiricist philosophy by applying Occam's Razor more rigorously. He concluded that we can only know ideas, not any underlying substance. According to Berkeley, all objects are just collections of ideas or sense data in our minds. He believed existence is perception - for something to exist, it must be perceived. Berkeley proposed that God perceives all things at all times, allowing the world to continue existing even when not observed by humans. However, this raised problems for Berkeley's idealism since God cannot be directly perceived.