I find some interesting and quite inventive ideas here, but wanted to drop in a low-tech concept and a slightly higher-tech one.
If you have cushions, and find access to a used mattress (anything that reduces mattress waste is a plus for the environment), it should be possible to cut the heavy metal wire from the perimeter of the mattress. This can be added to the bottom of the cushions to make a metal wire frame with cushions between front and rear lateral wires. Cushions can be snapped or velcro tabbed or even sewn onto the wire, your choice. On each end, place a small vertical stand (perhaps a square wooden end panel for the seating area. Screw small eye screws into the stand horizontal pieces front and rear. Get four door springs and hang them from the eye screws and then slip over the ends of the bed wire. Ensure the springs are a few inches (2" to 4") shorter than the distance to the RMH "seat bench". In this way, the default, unloaded position of the cushions will be a couple of inches above the warm bench. This allows ready air circulation and easier heating of the room while keeping any cushions above the fray. Sit down, cushion softens bench for tush, get up and it automatically lifts off the surface of the bench.
Next hare-brained thought. Make pex pipe frames under the cushions. Connect with tees to vertical pex pipes along the rear of the bench. Fill with fluid, could be oil, could be water, could be water and water-safe antifreeze. Heat from the bench will enter horizontal pex and warm fluid. Warmed fluid will become lighter and rise up vertical rear pipes where it will cool and flow back down pex returns as a thermosiphon system. This is a permanent mount, transferring heat to the rear of the seat (making a nice, warm back heater) that can be made large enough to handle most heat from the bench. If one wants to get real steampunk, add valves (suggest on reverse side from sitting) and different horizontal pex pipes to allow moving heating area up and down the back.
As I read this, I noted that my mind was making jumps not everyone may follow. It would be useful to place a coarse screen material under either idea's cushions on top of major supports to allow cushion to remain stable when suspended or along the back if that option is used. I really would consider use of wool fabric for covers and cleaned and otherwise unprocessed wool for stuffing. Why wool? ITS WOOL! Great heat retention, fabulous hot and cold material, gives off heat if it gets wet.