Text- and goal-conditioned human-object interaction (HOI) provides an intuitive interface for specifying high-level intents in physics-based character animation. Mapping such intents to physically plausible, contact-rich behaviors naturally calls for a generative planner and a physics-based controller, yet existing planner-controller systems either execute plans open-loop or close the loop while keeping the planner fixed, so execution feedback never reshapes what is planned. We present InfCoiL, a closed-loop framework for physics-based HOI from coordinated planner-controller learning. InfCoiL couples a morphology-aware flow-matching planner with a unified multi-morphology controller through a shared morphology interface in an autoregressive plan-and-execute loop, and alternately fine-tunes both components with reinforcement learning from the same physical rollouts. To optimize the flow-matching planner online, we introduce Semantic Flow Policy Optimization (SFPO), which stochasticizes selected denoising transitions with channel-wise semantic covariance over heterogeneous HOI features and assigns group-relative, sequence-level rewards from complete closed-loop executions. On held-out OMOMO sequences, InfCoiL outperforms open-loop hierarchical baselines in goal-reaching task success and physical tracking accuracy. Project page: https://infcoil.github.io/

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