The perception of hydrodynamic signals by self-propelled objects is a problem of paramount importance ranging from the field of bio-medical engineering to bio-inspired intelligent navigation. By means of a state-of-the-art fully resolved immersed boundary method, we propose different models for fully coupled self-propelled objects (swimmers, in short), behaving either as “pusher” or as “puller.” The proposed models have been tested against known analytical results in the limit of Stokes flow, finding excellent agreement. Once tested, our more realistic model has been exploited in a chaotic flow field up to a flow Reynolds number of 10, a swimming number ranging between zero (i.e., the swimmer is freely moving under the action of the underlying flow in the absence of propulsion) and one (i.e., the swimmer has a relative velocity with respect to the underlying flow velocity of the same order of magnitude as the underlying flow), and different swimmer inertia measured in terms of a suitable definition of the swimmer Stokes number. Our results show the following: (i) pusher and puller reach different swimming velocities for the same, given, propulsive force: while for pusher swimmers, an effective slender body theory captures the relationship between swimming velocity and propulsive force, this is not for puller swimmers. (ii) While swimming, pusher and puller swimmers possess a different distribution of the vorticity within the wake. (iii) For a wide range of flow/swimmer Reynolds numbers, both pusher and puller swimmers are able to sense hydrodynamic signals with good accuracy.