I once had an OOBE, where prior to waking, I visualized the dog running up the hall of my parents house, onto the bed I was sleeping in...just before it happened.

It freaked me out and fascinated me, although I don't pay much mind to lucid dreaming anymore.

Astral projection is one of those things that science just doesn't quite have a method to  reproduce empirically, nor describe the phenomena with reproducible data. It is my favorite example of the limitations of the scientific method.