As far as i know, you also have dreams outside REM, but these are so vividless, that i would really doubt that theres any chance of becoming lucid...
I remember once when i had been out drinking. I dreamt that i was at a party, and that i really needed to go to the toilet. I was stuck in something on the floor, and cound'nt get away from where i was standing. Unfortunetly that did'nt really matter that much, as the guy who was having the party did'nt mind us taking a piss on the floor, so i did that.
I woke standing in a bunch of pillows in the corner of my room, where i had gotten lost, having pissed on the floor ...   but also  
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