DD is asleep on the bed right now I develop super hearing.. and hear her when she stirs. It helps that I know she usually sits up and makes noise before she starts to crawl around.
DS was climbing off the bed safely at about 13 months, but I found he never crawled off the edge anyway, it was him sitting himself up too close to the edge that made him fall off.. took him a while to work out where to put his bum when he sat up. hehe.
Have you got a baby monitor? I got one so I could hear DS stirring when I was in another room. I found this helped alot. When he wakes up I can hear him stirring (on the monitor) he calls out and I call back to him. That way, he tends to stay on the bed until I come and get him.
I also taught him to "Stop. Turn Around and Slide Down" - which he does now all by himself and has done so for a while.
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