We have observed that when people engage in algebraic reasoning, they often perceptually and spatially transform algebraic notations directly rather than first converting the notation to an internal, non spatial representation. We describe empirical evidence for spatial transformations, such as spatially compact grouping, transposition, spatially overlaid intermediate results, cancelling out, swapping, and splitting. This research has led us to understand domain models in mathematics as the deployment of trained and strategically crafted perceptual-motor processes working on grounded and strategically crafted notations. This approach to domain modeling has also motivated us to develop and assess an algebra tutoring system focused on helping students train their perception and action systems to coordinate with each other and formal mathematics. Overall, our laboratory and classroom investigations emphasize the interplay between explicit mathematical understandings and implicit perception action training as having a high potential payoff for making learning more efficient, robust, and broadly applicable.