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Yoga nidra (also known as yogic sleep or sleep yoga, and not to be confused with dream yoga) is a state of conscious deep sleep. Through yoga nidra one can sleep 30 minutes to an hour and that would equate to 3 or 4 hours of regular sleep. Yoga nidra was not designed to replace regular sleep but since one can stay conscious through sleep onset this means that hypnagogic imagery can be experienced which in turn can lead to lucid dreaming and astral projection. Dream yoga on the other hand is a Tibetan practice with some of the goals being to awaken the consciousness within the dream state or astral travel. Dream yoga and yoga nidra are where the dream practices that sprung up in the west, otherwise known as lucid dreaming, have their roots. My question here is (as asked in the topic title) does the tao contain it's own practice of yoga nidra and dream yoga?