Deep Reinforcement learning for problems with large action spaces [Q]

Hi, I am attempting to use deep reinforcement learning to train a simulated robot to walk, similar to the work done in this paper. However, the action space for such a problem is extremely large, even if I discretise the joint positions. Hence, I am wondering how the i can represent the problem using a reasonable number of nodes, as the researchers in the paper appear to have achieved. Any help would be greatly appreciated, thanks!

submitted by /u/techman007
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