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By adopting a set of panel data from thirty provinces in China from 2007 to 2017, this paper examines how regional innovation efficiency is influenced by different types of innovation policies from a specific long-range plan ('National Medium- and Long-Term Science and Technology Development Plan (2006–20)'). We incorporate public direct research and development (R&D) grants, R&D tax credits, and intellectual property rights (IPR) protection into our research. We also explore the heterogeneous influences of these factors at different stages in regional innovation development. The results indicate that public direct R&D grants have a significantly negative influence, especially in innovation-catching-up regions. Conversely, the R&D tax credit has a considerably positive impact on innovation-catching-up regions. IPR protection plays various roles according to different innovation development stages. Specifically, IPR protection has a positive impact on innovation-leading regions, while it negatively influences regional innovation efficiency in innovation-catching-up regions. [ABSTRACT FROM AUTHOR]