That is called being awake.I do when I go to bed extremely tired, like after an all nighter. I've chased a monster into the closet. I've hid my glasses in my pillow case (I spent about 30 minutes looking for them in the morning). I've had a conversation with my roommate about a new theory expanding special relativity.
People do talk to me sometimes and say that I'm sleeping. I reply that I'm not and continue talking. I do usually remember what happened when I wake up in the morning.
I've never accidentally molested anybody though. I've been found in the bathroom, on the toilet, in closets, on the floor in the living room, even outside on a balcony with a burned out cigarette, but I've never gotten into bed with anybody else. Often I talk to my GF or she has to guide me back to bed.
That is called being awake.
My eldest daughter I think sleepwalks. She'll wake up in the middle of the night and normally come into our room for snuggles (not sleepwalking) but sometimes will just start walking around the house, it's really quite freaky. She did it a month ago I heard some "walking around" and she had found her way two floors down into the basement. She seems a bit out of it when we'll put her back to bed and she never remembers doing it. I'm honestly not sure exactly what she's looking for.