I have couple experience like that too.. i even forget in a moment that i have lucid dream.. i woke up and realize that i failed again to experience lucid dream, but in a minute after i realize slowly that i got waking sleep paralysis and i feel my self floating in a darkness then fell off in my house. i fully realize that i dream.

But my question is...... I wake up after non-rem so that i forget my lucid dream. My level of lucidity is very low.

How is the way to Gain and stabilize my awarness in dream?? It is so frustated