In offline-to-online (O2O) reinforcement learning, achieving efficient performance improvement while maintaining training stability remains a critical challenge for effective fine-tuning. Existing O2O methods usually focus on the balance between policy improvement and policy constraint during online fine-tuning. However, they often overlook sample differences, leading to suboptimal performance. To address this challenge, we identify that the effectiveness of policy learning exhibits significant variation across states. Therefore, we propose the notion of state proficiency to capture the degree of effective learning in a given state. We propose State Proficiency-Based Adaptive Fine-Tuning (SPA), a straightforward yet effective method that establishes proficiency-based sample priorities in policy optimization to facilitate effective fine-tuning. Specifically, SPA focuses on low proficiency samples during policy improvement to enhance sample efficiency, while emphasizing high proficiency samples during policy constraint to ensure stable training. Extensive empirical results demonstrate that SPA achieves significant improvements over existing methods, attaining state-of-the-art performance on the D4RL benchmark.

CEM-TD3 is a combination scheme using the simple cross-entropy method (CEM) and Twin Delayed Deep Deterministic policy gradient (TD3), and it achieves a satisfactory trade-off between performance and sample efficiency. However, we find that CEM-TD3 cannot fully address the low efficiency of policy search caused by CEM, and the policy gradient learning introduced by TD3 will weaken the diversity of individuals in the population. In this paper, we propose Double Buffers CEM-TD3 (DBCEM-TD3) that optimizes both CEM and TD3. For CEM, DBCEM-TD3 maintains an actor buffer to store the population required for evolution. In each iteration, it only needs to generate a small number of actors to replace the poor actors in the policy buffer to achieve more efficient evolution. The fitness of individuals in the actor buffer decreases exponentially with time, which can avoid premature convergence of the mean actor. For TD3, DBCEM-TD3 maintains a critic buffer with the same number of critics as the number of actors generated in each iteration, and each critic is trained independently by sampling from the shared replay buffer. In each iteration, each newly generated actor uses different critics to guide learning. This ensures more diverse behaviors among the learned actors, enabling richer experiences to be collected during the evaluation phase. We conduct experimental evaluations on five continuous control tasks provided by OpenAI Gym. DBCEM-TD3 outperforms CEM-TD3, TD3, and other classic off-policy reinforcement learning algorithms in terms of performance and sample efficiency.