Both inventions and fugues are contrapuntal/polyphonic works; the difference is in the strict form that fugues must follow in order to deserve that name.
You'll notice that in all fugues, a clear, solo voice announces the subject, followed by that subject being repeated a 5th above, or 4th below (on the dominant if the subject was on the tonic, or on the tonic if the subject was on the dominant). The motive will appear in all voices (be that 2, 3, 4, or 5, or more), all in the home key before heading into the middle section where the motive may be altered through augmentation, inversion, etc. Through the middle section, the subject goes through key modulations, and in the final section, the subject is stated in its original form, in the original key again (no fancy stuff like inversion).
Not all inventions follow this form. You'll notice that while some of them (#2 in C- , BVW 773) follow the fugue form pretty well, most do not. They have a motive that is heard multiple times, but there isn't always persistent drive with the subject that carries through in a well defined way from beginning to end.
You'll find a lot of pieces that don't really have any imitated counterpoint call themselves inventions because they were experimental pieces, generally written in polyphony.