Systems and methods for machine learning are described. Embodiments of the present disclosure receive state information that describes a state of a decision making agent in an environment; compute an action vector from an action embedding space based on the state information using a policy neural network of the decision making agent, wherein the policy neural network is trained using reinforcement learning based on a topology loss that constrains changes in a mapping between an action set and the action embedding space; and perform an action that modifies the state of the decision making agent in the environment based on the action vector, wherein the action is selected based on the mapping.