"We're starting to see some of those worst case scenarios play out almost in front of us," added Prof Stokes.
Finally, scientists use computer models to simulate how ice sheets may respond to future climate. The picture they paint isn't good.
"Very, very few of the models actually show sea-level rise slowing down [if warming stabilises at 1.5C], and they certainly don't show sea-level rise stopping," said Prof Stokes.
The major concern is that melting could accelerate further beyond "tipping points" due to warming caused by humans - though it's not clear exactly how these mechanisms work, and where these thresholds sit.
"The strength of this study is that they use multiple lines of evidence to show that our climate is in a similar state to when several metres of ice was melted in the past," said Prof Andy Shepherd, a glaciologist at Northumbria University, who was not involved in the new publication.
"This would have devastating impacts on coastal communities," he added.
An estimated 230 million people live within one metre of current high tide lines.
Defining a "safe" limit of warming is inherently challenging, because some populations are more vulnerable than others.
But if sea-level rise reaches a centimetre a year or more by the end of the century - mainly because of ice melt and warming oceans - that could stretch even rich countries' abilities to cope, the researchers say.
"If you get to that level, then it becomes extremely challenging for any kind of adaptation strategies, and you're going to see massive land migration on scales that we've never witnessed [in modern civilisation]," argued Prof Bamber.
However, this bleak picture is not a reason to stop trying, they say.
"The more rapid the warming, you'll see more ice being lost [and] a higher rate of sea-level rise much more quickly," said Prof Stokes.
"Every fraction of a degree really matters for ice sheets."