We show that every $mathbb{R}^d$-valued Sobolev path with regularity $alpha$ and integrability $p$ can be lifted to a Sobolev rough path in the sense of T. Lyons provided $alpha >1/p>0$. Moreover, we prove the existence of unique rough path lifts which are optimal w.r.t. strictly convex functionals among all possible rough path lifts given a Sobolev path. As examples, we consider the rough path lift with minimal Sobolev norm and characterize the Stratonovich rough path lift of a Brownian motion as optimal lift w.r.t. to a suitable convex functional. Generalizations of the results to Besov spaces are briefly discussed.
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