Stimulated Raman adiabatic passage (STIRAP) is an important technique to manipulate quantum states in quantum simulation and quantum computation. The transformation fidelity is limited in reality due to experimental imperfections. After systematically calculating the influence of dissipation caused by thermal fluctuations and instantaneous decay of the intermediate state, we find optimized control pulses of Rydberg atom in optical tweezer to increase the STIRAP fidelity via optimal control method. All constraints of currently available control lasers have been taken into account. The transition error can be further depressed when control lasers with shorter rise time and accordingly proper total evolution time are applied. Finally, the robustness of the control pulses with respect to random deviations between the theoretical pulse shape and the implemented ones is also enhanced by additional rounds of optimizations based on ensemble averaged fidelity.