Rydberg atoms represent a platform underpinning many recent developments in quantum computation, simulation, sensing, and metrology. They further facilitate optical nonlinearity at the single-photon level when coupled to photons propagating in atomic clouds, which form collective atomic excitations called Rydberg polaritons, strongly interacting with each other. Here, we experimentally explore interactions between a Rydberg polariton in an atomic ensemble and a single, adjacent, Rydberg atom. We discover three different regimes of quantum dynamics corresponding to polariton blockade, coherent exchange, and probabilistic hopping, which are defined by their distinct transmission characteristics, with a transition through an exceptional point occurring between blockade and coherent exchange. We investigate the applications of such interactions for fast, non-destructive detection of Rydberg atoms and present proof-of-principle demonstrations for their potential application in nonlinear photonic networks.