The metric I use for the couch/cushions is like this:

If I took off the clothes on my body right now, would I put them into the hamper or are they still clean enough to wear again? If they’d go in the hamper, I’m not sitting on the couch with them.

The metric I use for the bed is much more strict:

Unless they are clothes I just took out of the drawers/closet, they don’t go in/on the bed.