In Fallout 4's Survival Mode, the only place you can save are beds, and according to the developers, different beds have varying amounts of bonuses, with sleeping bags and the like having lower bonuses than real mattresses and beds.
Bed Types: The type of bed you're sleeping in limits the length of time you are able to sleep, thereby limiting how much you can recover. Real beds – which are hard to come by in the world – offer the highest bonuses for sleeping; this rewards you for working out of a home base or even spending the caps for a good night’s sleep. Also, finding a sleeping bag in the middle of a dungeon will feel great… finding a dirty mattress will feel even better… finding a real bed will be like winning the lottery. You know all those spots where you can use Workshop mode in the game? It’s time to start building beds.
However, they don't clarify what kind of bonuses there are for sleeping in a comfier bed or a more broken down bed.
What are the exact bonuses for beds in the game? Which one can keep me healthier and less fatigued?