From hereRobin's focus is not exactly on the room or the nest of blankets. It's not exactly a bed but compared to places he's slept it's luxurious - not that he is planning on sleeping. He pulls off his tunics when she pulls away but his intent on undressing is interrupted when she removes her shirt. She reaches up to kiss him and his hands start to explore. The difference in their heights is just frustrating enough to make him impatient.
He lifts her off her feet and she's light enough that it is very little effort to carry her to the bed even if he's kissing her again at the same time.