A temperature-regulating mattress system provides dynamic adjustment of temperature and other parameters throughout a user's sleep cycle to maximize the quality of the user's sleep, Features of the system may include: (a) heating and cooling temperature regulation (with dynamic custom profiles that control humidity and are dual-zone); (b) smart controls (with remotes and apps that learn from users to optimize settings and work with smart home products such as Alexa and interactive lighting systems); (c) comfort (with a mattress that provide the necessary support for its users); and (d) sensors used for temperature and humidity estimation algorithms, control mechanism, and additional inferences from those sensors (pose, enrichment of biometric sensing data, etc.).