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Ok, I had a semi-WILD. I was in school, tired as hell, and the teacher said we could rest or sleep if we wanted because we had a lot of class left and nothing to do. Anyway, the thing was, I could only see shadows of people, like it was mixed with my hypnogogic hallucinations, but they were talking to me. The way they moved was in-sync with the voices I heard. I talked, and they would talk back; so I know it wasn't just audio-hallucinations. It was indeed a dream.
Thoughts?
I had exactly the same experience about a year ago. I've also successfully WILD'ed twice. And I don't believe it is the same thing.
There's a chance you're describing something different from what I experienced, but I don't think so.
In my opinion there's quite a leap between this kind of half/pre-sleep and actually achieving a lucid dream.
Anyway. I experienced this when I was actively trying to WILD as well, so those things might be related. Sounds like a cool experience regardless.
I never have had any thing revolving around complete lucid awareness but from my studying and knowledge I believe you were in a WILD. It seems since you were half a sleep your body may have been in sleep paralysis? I am guessing that you relaxed very easily and you were able to produce hypnagogic imagery well. Or you may have been in an OOBE / Astral Projection. This is a bit more advanced and very realistic. But if you were in your physical body at the time you may have only disconnected your astral/etheric body with your physical but haven't left.
In the end this could've been a good experience but it would've most likely shown you the various states of consciousness. Experiment with it and see what causes your brain to go into different states.