Stuck on a low level of lucidity.

So I've been trying to lucid dream for about 6 months now, and for the past month or so I've been having lucid dreams randomly every now and then. The thing is, they're always low levels of lucidity. For example, I would normally look at my hands, realize I'm dreaming, and know I'm dreaming, but that's about it. I can control things, but I don't really have say in WHAT I control. Last night, I was just walking around, and suddenly I just thought, "This feels weird... It doesn't feel like real life." and I did a reality check and knew I was dreaming, but instantly forgot and went about by dream normally.

Basically what I'm trying to say is, I want to reach a higher level of lucidity, but I don't know how.
I've been doing MILD for 2 or 3 weeks and repeating a mantra, and I've been trying FILD for the past day or so with no success.
Last night I forgot to do any technique and had that dream.

Any suggestions on what I can do to reach a higher level of lucidity?
Thanks :)

Stabilizing techniques after you became lucid?

Yes, I have a few times. I would rub my hands together and the dream would get visibly clearer, but my level of control wouldn't increase.

Set a goal. Like "when I become lucid, I'll do x". That way, you'll have something to focus on when you become lucid and not just idle around. Make sure your goal is something that you really want to do, something that will excite you just by the thought of it.

What helps me when I'm having low lucidity dreams is meditating on increasing my awareness while I'm awake. But I'm sure there are tons of ways that you can work on increasing your lucidity in dreams! I think some people use phrases in dreams that they shout at the dream world, like, "Increase lucidity!". :alien: