Part of the reason why I love figure painting is so that I can have an excuse to just mess around and experiment, no pressure to make it good, just let things happen, good, bad, and ugly.
Every session I usually start out by making a really crappy first image during the short poses. And then do something slightly more confident, and continue until the final, which is usually an hour or more.
Here is my progress.
Whether the final outcome was something that improved upon the others is still up in the air. I personally like the energy and the lost and found quality of the short poses. I guess that is a part of it too, learning to keep that sort of rushed energy, but learning how to control it.