Another way to improve forms is practice movements speratly, outside of doing the form. For instance in my kicking series I kept having a problem with the double side kick (low then high) when doing it with my left leg (after coming around from doing it with my right leg). So I isolated the part I was having problems with and practiced it over and over again for at least 20mins (which isn't really that long). I can do it now, better then I could before, I don't lose my balance.