There is not a walkway between the CR and the POLY. The best way would be to take the monorail. Takes less than 5 minutes since they're only 2 stops from each other. (the TTC is the only stop between the CR and POLY-then it goes onto the GF, MK and then the CR again).
There's a walkway from the Polynesian to the Grand Floridian, maybe that's what he was thinking?? you can walk from the Polynesian to the TTC also, but not to the Contemporary unless you "walk onto" the monorail.