I'd say practice. I think partial lucidity is just a part of the game; it's always going to happen at times, but the more you work at lucid dreaming and get better the more high-quality lucids you'll have. As for remembering what to do in a lucid dream, this is where expectation/intention-setting comes in—things like training prospective memory, constantly imagining yourself becoming lucid and remembering to do what you want to do, autosuggestion, etc. (I thought there might be a good thread/tutorial to link to about this, but I can't seem to find one quickly—perhaps someone here could steer us in the right direction?)
 Originally Posted by proctree
Perhaps this answer won't satisfy you, but my solution to half-lucidity and loss of vividness/no dream recall was to stop having DILDs and MILDs completely, and focus only on having WILDs. Basically, try to use techniques which do not require period when you lose conciousness(so, basically just FILD, WILD, V-WILD and variations thereof).
I don't see why one would have to give up DILD/MILD just to do WILD. If one is able to WILD, why not do it along with DILD and increase the chances? Really good dreams are possible with DILD, and I see no reason to shun semilucids—they're part of the process and let you know you've gotten close.
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