In this paper, Stoic epistemology is analysed in terms of how to achieve a stable grasping of reality through katalepsis. The paper argues that for the Stoics, this is a state accessible to any rational being because it is the upshot of a mental capacity we are necessarily bound to put into operation, namely that of experiencing and mentally ordering objects from the sensible world. The paper puts forward an original interpretation relying on a reconsidered notion of Stoic empeiria or (...) experience. It connects the Stoic theory of the development of reason and formation of conceptions with a more fluid oscillation between belief and knowledge so as to establish a peculiar relation between reason and the Stoic notion of experience, articulating a form of rational empiricism. (shrink)