#Mathematica, 197 193 chars
Mathematica, 197 193 chars
Brute force.
Min[Length/@Select[Join[{1},#,{n},Reverse@#2]&@@@Tuples[Subsets@Range[3,n=Length[i=FromDigits/@StringSplit@InputString[]]]-1,2],{}⋃#==Sort@#∧And@@Thread[i[[#]]≥Abs[#-Rest@#~Append~1]]&]]/.∞->-1