http://cdn.sparkfun.com/datasheets/Comp ... 30N06L.pdf
http://jokenkosto.blogspot.com/
Use transistors to pull the pins of the remote to ground, any small signal NPN transistor or logic level n-FET should do. 20-50 BC547 for example will cost about a dollar including shipping, so if you don't have any, you should really consider ordering some.
If you really want to make your system "lightweight", you may also consider to get rid of the remote control all together. You can get 433MHz sender/receiver modules for cheap from ebay or aliexpress. With those you can send the remote control codes directly from the ESP (and control a lot more than 4 outlets at a time). There are plenty of tutorials on how to do that with an arduino or raspberry pi on the web and if I recall correctly even a few threads on this forum (searching for "433MHz" should give some results).