I do grappling and you can't really build any skill by yourself but there are things you can do.
As a martial artist you will be completely un-effective until you work with live people and actual sparring BUT you can get a head start on memorizing the basic techniques and movements.
I learned a lot from videos. I have a video from a champion grappler - Mario Sperry and I am able to get ideas from it and then polish them in class with other students.
If you have access to a mat you can practice with a friend. Use extreme caution with takedowns. Someone needs to teach you how to fall down safely and what things to NOT do at 100%. Obviously punching a sparring partner in the face at 100% is out but there are many other things to avoid with grappling type arts so you don't hurt your partner or yourself.
Like a flying armbar is practiced slowly step by step and with the extra-thick mat.
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