I think a lot of people have done this. I know I have but I have been yelled at a few times for it so I really try not to let it happen.

I would say just focusing on your breathing when your resting and during an exercise. Good strong belly breaths, in the nose out the mouth. I know that's what I'm working on.

I seen a black belt do that during class once. Kind of surprised me. I wonder what a Sensei like Sensei Chinen would do if he caught someone yawning.
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May the force be with you.