To give you an idea of the best pads, look at the Therm-a-rest NeoAir XLite pads. Here's an REI link. They are quite expensive, but truly lightweight.

I use the short pad, which supports shoulders and hips. I just put a layer of clothing under my feet, and that seems to be ok.

I still don't sleep as well as at home, but for me, it is a good tradeoff between weight and comfort.