People actually sleep on their sofas with the belief that sleeping in an unusual environment is enough to instinctively keep the mind more awake and aware than usual, which leads you to become lucid more easily. I have no idea where this hypothesis is from, but in the context of sleeping with couches that's basically the main idea behind why most people do it.
My bed at home and the bed in my dorm are ridiculously comfortable and hard as a rock, respectively. I remember about 10 months ago I was wondering if changing the comfort level would change the number of lucids I had, but it was really impossible to tell because so many other factors changed when I moved back on campus.
It's possible comfort plays a role, but I think it's probably mostly attributable to other things. How deeply you sleep in a comfy bed may play a part, but I think in the big picture it's really a minor player.
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