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Audiobooks are great for this.
Listen to the book until you recognize you're falling asleep. Attempt to stay in that torpor state as long as you can while remaining conscious. Press your "Back 30 seconds" button on the book player every time you realize you drifted off, and try again. This is like a meditation for staying conscious in that almost-sleep state.
Then, when you're ready, you can turn the book off. Stay conscious and let the torpor state come in, try not to fall asleep. You will see visions in this state.
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