A quick google suggests that depending on the particular alloy or composition, that steel is around 8 g/cm, that aluminum is around 2.7 g/cm, and that nylon is around 1.15 g/cm. Granted, that doesn't translate 1:1 in pistol frames since polymer tends to be used with steel rails or a subframe, but it's a start.
I'm kind of curious how aluminum pistols wear over time. Hard anodizing is much harder than steel, but as it wears off, the aluminum metal underneath is super soft. I wonder how the slide and frame abrade either other over the long term, or if it turns out to be insignificant in a well designed and maintained pistol.
It's interesting that Sig loves aluminum so much. I suspect it's an artifact from the 1980's that turned out to translate well to modern CNC production. They make a relatively wide variety of pistols, so maybe it's more efficient for smaller production runs.
H&K has a small lineup, so maybe polymer frames are more efficient for larger runs. Or maybe not; I'm just spitballing here. I don't know anything about aluminum vs polymer, really. But I am curious.
What I can tell you is that polymer saves a tremendous amount of weight over steel. I notice this most comparing my VP9 and my Kahr MK9.
Both are striker fired Browning tilt barrels that weigh about the same with an empty magazine.
The VP9 measures 7.34" x 5.41" x 1.32" with a 4.09" barrel.
The MK9 measures 5.3" x 4.0" x 0.9" with a 3.0" barrel.