Quantum control of lossy systems is known to be achieved by adiabatic passage via an approximate dark state relatively immune to loss, such as the emblematic example of stimulated Raman adiabatic passage (STIRAP) featuring a lossy excited state. By systematic optimal control study, via the Pontryagin maximum principle, we design alternative more efficient routes that, for a given admissible loss, feature an optimal transfer with respect to the cost defined as (i) the pulse energy (energy minimization) or (ii) the pulse duration (time minimization). The optimal controls feature remarkably simple sequences in the respective cases: (i) operating far from a dark state, ofπ-pulse type in the limit of low admissible loss, or (ii) close to the dark state with a counterintuitive pulse configuration sandwiched by sharp intuitive sequences, referred to as the intuitive/counterintuitive/intuitive (ICI) sequence. In the case of time optimization, the resulting stimulated Raman exact passage (STIREP) outperforms STIRAP in term of speed, accuracy, and robustness for low admissible loss.