Thermal stealth and camouflage have been intensively studied for blending objects with their surroundings against remote thermal image detection. Adaptive control of infrared emissivity has been explored extensively as a promising way of thermal stealth, but it still requires an additional feedback control. Passive modulation of emissivity, however, has been remained as a great challenge which requires a precise engineering of emissivity over wide temperature range. Here, we report a drastic improvement of passive camouflage thin films capable of concealing thermal objects at near room temperature without any feedback control, which consists of a vanadium dioxide (VO2) layer with gradient tungsten (W) concentration. The gradient W-doping widens the metal-insulator transition width, accomplishing self-adaptive thermal stealth with a smooth change of emissivity. Our simple approach, applicable to other similar thermal camouflage materials for improving their passive cloaking, will find wide applications, such as passive thermal camouflage, urban energy-saving smart windows, and improved infrared sensors.