Well, the easy answer is to convince your parents to scrupulously redesign their house's interior to exactly match the interior of your boyfriend's house. Then the next time you're sleeping over at his place, wait until he's really out and gently "drag" him to his new home.
The reason that's the easy answer is because the more realistic alternative is to get him to be less selfish, which is decidedly more difficult. It sounds like your guy either a) doesn't care for your parents or b) isn't into you enough to want to stop playing video games in his beanbag chair to come see you. Either way, you're in for a challenge.
Which isn't to say you should give up hope. Women have been inspiring men to personal growth for eons. Why, if it weren't for my own wife, I never would have learned the Zither! But you need to know where you stand, and currently, you're being outranked by a group of inanimate objects.
It's very natural for humans to enjoy spending time at home. And, sadly, it's equally natural for a guy to take advantage of his girlfriend for the sake of convenience. The neat thing is, especially in this situation, he can only take advantage of you if you let him (unless he's perfected teleportation technology).
So stop coming over whenever he calls, and let him know if he wants to keep you he's going to have to roll out of bed, put on a shirt, and leave the house once in a while. NO, that's not too much to ask, and if he's not willing to do it, he's only going to get worse down the line.