We can use gerunds with sense verbs:
- I heard John making breakfast in the kitchen.
- We saw you waiting for the bus.
As you can see from above, the grammar form is as follows:
Sense Verb + Object + Gerund
The most common sense verbs used with this verb pattern are:
- catch / discover / find
- feel
- hear
- leave
- notice / see / spot
- watch / observe
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