I think you’re looking at it in quite a rigid manner. The dialectical materialist theory of knowledge is that when we practice, we better inform our theory, better allowing us to guess. In unknowns, we can only draw on what we know, and the results of what happens help us get a deeper and deeper understanding of what we are learning. It isn’t that we can never interact with what we don’t already know, it’s that we have to in order to learn more!