I agree with what Ruthi said :) They are very very similar. I'd also say that when I think of the word "sense" I think of noticing something in a general way that is a little less conscious, like a feeling. When I think of "perceive" I think of noticing something in an intentional and specific way, like thinking. To me, "I sensed that pickpocket in the crowd" sounds better. Maybe you didn't notice the pickpocket with your eyes or your ears but you had a feeling that the pickpocket was there. I hope that helps! :)

They are very close in meaning. Sense means to detect something using one of your senses, and perceive is more like "to notice". You can use them pretty much interchangeably although I think that "perceive" sounds a little more literary, formal or old fashioned. Sensation and perception are synonymous. Awareness is more to do with a state of consciousness. It is used quite often by groups like yoga and meditation experts to describe a state of being more aware and awake to your inner self.