How to efficiently store records as Ember query parameters

Background: The user can filter a list based on tags, every tag is an Ember Data model. The selected filtering tags should be stored in the URL via query parameters. I also want to display the selected tags in the interface.

What's the best way to go about this?

I'm pretty sure I only want to store the IDs, but if I do this I have to maintain a separate variable / computed property where I store the actual record of the ID which comes from the query parameters. This kind of duplication seems wrong to me.

Apart from this issue I don't know if I should use an array query parameter or build an comma separated string of the IDs. If I do the former I end up with ugly URLs like ?tags=%5B"3"%5D. But doing the later means doing even more work.

So what's your approach to this kind of problem? I hope I'm missing something obvious that doesn't have so many downsides :)