MILD works pretty consistently, if you do it right. It takes some practice to build up your prospective memory. Once you can clearly imagine what a lucid dream feels like, you just have to remember to do it next time you're dreaming. It takes a bit of practice to be able to recreate the feeling of a dream, and the feeling of a lucid dream, in order to lock in your intention.

It works pretty consistently, for me. It takes me a few days or weeks to gear up for it. Once I develop some momentum, the lucid dreams just keep rolling in. Unlike WILD, I can't just spontaneously decide I would like to MILD.