The model of Paillard and Parrenin (Earth Planet Sci Lett 227(3–4):263–271, 2004) has been recently optimized for the last eight glacial cycles, leading to two different relaxation models with model-data correlations between 0.8 and 0.9 (García-Olivares and Herrero (Clim Dyn 1–25,...

We develop a method for finding optimal greenhouse gas reduction rates under ongoing uncertainty and re-evaluation of climate parameters over future decades. Uncertainty about climate change includes both overall climate sensitivity and the risk of extreme tipping point events. We incorporate...