By far for me the best improvement that I could've incorporate into my training was a grappling dummy.. At least 3 - 4 nights a week, I go through a gauntlet of RG moves. Each move is performed 3times.. And it usually takes me about 1 to 1 1/2 hours to complete. This specific GD postures up perfectly in my guard, so I execute the entire path. I've produced a list, and constantly reference the book, and MRG DVD's. (trying to make sure my technique is correct) For me the 10th Planet is a virtual reality and I use all of his materials in teaching myself the system..
Breaking the opponent down, MC, Double bagger, Invisible collar, even to the swim move and spider control.. etc.. Overtime I've beat the shit out of it, so it's loosened up considerably which enabled me to leverage the system more effectively. I since go into my rolling sessions, feeling so much more confident on the mechanics of the move. Of course live rolling has its own challenges because your partner resists, or is attacking too, but that's the beauty of it. In absense of a live rolling / drilling partner this is hands down the best investment i've ever made, and for me it's shows amongst my peers. When I'm done executing the moves, I keep the dummy in my guard, using a timer, i do 1 minute squeezes as hard as i can, release for 30 secs , then squeeze again for 1 minute. I continue this process usually about 5 minutes.. If your interested I can send you more info on the one that I use.