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I think "situational sparring" is the best learning strategy I've found. This means that instead of straight positional drilling or outright rolling, you're creating a realistic situation that you often find yourself in (e.g. you just retained your guard and are back to a neutral position with your opponent kneeling) and then "drill sparring" with a predetermined idea of what you're going to do in that situation. So, I might start with my opponent on top of me in side control, then I hit my best side control escape, and on the split I immediately attack a hook sweep. My opponent is resisting but not fighting tooth and nail, while I'm going full speed. I can situationally drill like this for just 10 repetitions or so, and then when I get into this same situation in live sparring or in a comp I will feel what to do instead of just knowing the move I want to do. It's very important, though, that your partner engage with you in such a way that matches the situation-- this is not the same as flow rolling, or drilling progressions against a non-resisting opponent. You're micro-rolling/micro-drilling actual situations, starting right before the situation and ending right after.