Plan in Sandbox, Navigate in Open Worlds: Learning Physics-Grounded Abstracted Experience for Embodied Navigation

Vision-Language Models (VLMs) have demonstrated exceptional general reasoning capabilities. However, their performance in embodied navigation remains hindered by a scarcity of aligned open-world vision and robot control data. Despite simulators providing a cost-effective alternative for data collection, the inherent reliance on photorealistic simulations often limits the transferability of learned policies. To this end, we propose ** S andbox- A bstracted G rounded E xperience ( SAGE ), a framework that enables agents to learn within a physics-grounded semantic abstraction rather than a photorealistic simulation, mimicking the human capacity for mental simulation where plans are rehearsed in simplified physics abstractions before execution. SAGE operates via three synergistic phases: (1) Genesis : constructing diverse, physics-constrained semantic environments to bootstrap experience; (2) Evolution : distilling experiences through Reinforcement Learning (RL), utilizing a novel asymmetric adaptive clipping mechanism to stabilize updates; (3) Navigation : bridging the abstract policy to open-world control. We demonstrate that SAGE significantly improves planner-assisted embodied navigation, achieving a 53.21% LLM-Match Success Rate on A-EQA (+9.7% over baseline), while showing encouraging transfer to physical indoor robot deployment. Project page is available at: .