Recent advances in Reinforcement Learning with Verifiable Rewards (RLVR) have demonstrated significant potential in single-turn reasoning tasks. With the paradigm shift toward self-evolving agentic learning, models are increasingly expected to learn from trajectories by synthesizing tools or accumulating explicit experiences. However, prevailing methods typically rely on large-scale LLMs or multi-agent frameworks, which hinder their deployment in resource-constrained environments. The inherent sparsity of outcome-based rewards also poses a substantial challenge, as agents typically receive feedback only upon task completion. To address these limitations, we introduce a Tool-Memory based self-evolving agentic framework SEARL. Unlike approaches that directly utilize interaction experiences, our method constructs a structured experience memory that integrates planning with execution. This provides a novel form of state abstraction that facilitates the aggregation of actions within functionally analogous contexts, such as tool reuse. Consequently, agents not only extract explicit knowledge from historical data but also leverage inter-trajectory correlations to densify reward signals. We evaluate our framework on knowledge reasoning and complex search tasks, demonstrating its effectiveness in achieving more practical and efficient agentic learning.