I think it has a good deal to do with habit, when I was attempting WILDS every day at the start I would lay there for hours, it was pretty annoying. But after a while my body seemed to get the message about what my intentions were. You said you were reciting a mantra, this is a good technique, be sure that your focus is neither too strong (you will keep yourself up) nor too weak (you will fall asleep fully), it is like stringing a bow, it cant be too tight nor too loose.
Also there is the problem of roaming thought-emotional blobs, one should I think develop a certain aloofness to these vagrants who will if you let them jolt your Adrenalin in the case of a exiting or negative thoughts or if it is a pleasant thought they will lead you into hypnotic stupefaction. When these thought bubbles pop up just let them rest unmolested in your awareness, do not try to avoid them and do not let them attach to your mind either, so that you can focus on the method at hand, which is the thing that's going to lead you into the lucid dream state, all the other mental perturbations will only set you off course.
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