In many observational studies in social science and medicine, subjects or units are connected, and one unit’s treatment and attributes may affect another’s treatment and outcome, violating the stable unit treatment value assumption (SUTVA) and resulting in interference. To enable feasible estimation and inference, many previous works assume exchangeability of interfering units (neighbors). However, in many applications with distinctive units, interference is heterogeneous and needs to be modeled explicitly. In this paper, we focus on the partial interference setting, and only restrict units to be exchangeable conditional on observable characteristics. Under this framework, we propose generalized augmented inverse propensity weighted (AIPW) estimators for general causal estimands that include heterogeneous direct and spillover effects. We show that they are semiparametric efficient and robust to heterogeneous interference as well as model misspecifications. We apply our methods to the Add Health dataset to study the direct effects of alcohol consumption on academic performance and the spillover effects of parental incarceration on adolescent well-being.