His own epistemology concedes that imagination—our primary mode of perceiving external things—yields only confused, inadequate ideas, meaning the gap between mind and world persists at the level of finite cognition.

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Confused ideas(Contrasted with clear, adequate ideas that give us real knowledge): Ideas that are unclear, incomplete, or based on surface-level impressions rather than deep understanding.
Finite cognition(Used to mean that our limited human minds can't fully bridge the gap to understanding reality perfectly): Thinking and knowing as a limited being—as opposed to infinite or perfect knowledge; basically, knowing from a human perspective with all our limitations.
Inadequate ideas(Imagination produces these kinds of ideas, suggesting it can't give us complete understanding): Ideas that don't give you the full or true picture of something because they're based on limited perspective or incomplete information.
Mind-body problem (or mind-world gap)(The statement refers to 'the gap between mind and world,' suggesting a disconnect): The philosophical puzzle about how our thoughts and mind connect to—or don't connect to—the physical world outside us.
epistemology(Contrasted with purely descriptive scientific inquiry): A normative enterprise that tells us how we ought to reason from evidence and how we ought to justify our beliefs, as distinct from merely describing how we do reason or justify beliefs
imagination(Judah's faculty psychology): The faculty that forms the threshold (mezzo) between the senses and the intellect, mediating between sensory apprehension and higher intellectual knowledge

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