I have been watching alot of Roger Gracie's fights lately and I noticed his half guard game from the bottom is really unique and puts alot of guys out of their game. He focuses on controlling the opponents sleeve to prevent a cross face and then when the time comes he looks for an over the shoulder belt grip. The only sweep I have seen him set up from this position is a sort of pendulum sweep. Has anyone played Half Guard from this position? what do you think about it?