Mac the dog gets me out of bed every night so I can let him go outside. I have found I can do this and not actually interrupt my REM cycles, and even go a little "outside" myself if I am so inclined.
He has a particular bark he uses to summon me. He jumps out of bed, barks, I get up, and he leads me out of the bedroom and to the back door. However, every few weeks, he'll bark, I'll shuffle, and just when I'm heading down the hall he'll spin back into the bedroom and wait for me to notice. He ducks behind Gary's side of the bed. I say "What the fuck, dog?" and that is his signal to go under the bed. He pops out from under the bed on my side. If I make a move then he ducks under the bed again. He looks like he's a muppet in an "Under" skit.
"Unnnnder...Not under! And noooww I'm ... under!"
"Screw you, dog. I'm going to bed."
This AMAZES him. ("Bed? But we are playing 'Under!'") He sits stunned and then goes back to square one, the demanding bark from the floor, then the pointed "under" demonstration. ("Look! I'm under! Now I'm not under. Don't you see? DON'T YOU GET IT?")
Then the second stage of UnderSpiel is when Gary is awakened by the dog's more insistent bark. ("UNDER!") Then Gary starts barking. "Dog! What the Hell! Stop it! Shush! Jesus! Go! To! Sleep!" on a loop for half an hour. I can sleep through the dog bark, but not Gary's.
Happily, Gary discovered the end game of Under. It worked once, then Gary replicated the result last night.
1) Gary gets the twin mattress of the guest bed.
2) Gary drags it into the bedroom.
3) Gary hurls it on to the floor next to the bed.
4) Gary lies down on the twin mattress.
5) Dog instantly jumps up into bed with me and goes right to sleep.