Details, including a link to the paper itself, are here.
The BBC asks this question:
“It’s an interesting philosophical discussion – ‘would we better off in a warm [interglacial-type] world rather than a glaciation?’ and probably we would,” he said.
Probably? There is no doubt about it. Humans are far better off in a warm world than in a glacial era where we could not possibly grow enough food to sustain the current world population.