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The bridge crossing with two torches

Four people must cross a rickety bridge at night. The bridge holds at most two people at a time, and anyone on it must carry a torch. They take 1, 2, 5 and 10 minutes respectively to cross, and a pair walks at the slower person's pace.

With a single torch, the well-known best plan takes 17 minutes, because the torch has to be carried back for each new pair.

Now suppose they have two torches. What is the fastest possible time, and what plan achieves it?

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With two torches, does anyone ever need to walk back? If not, the only decision left is how to pair people up.

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