Embodied Question Answering (EQA) has primarily focused on indoor environments, leaving the complexities of urban settings—spanning environment, action, and perception—largely unexplored. To bridge this gap, we introduce CityEQA, a new task where an embodied agent answers open-vocabulary questions through active exploration in dynamic city spaces. To support this task, we present CityEQA-EC, the first benchmark dataset featuring 1,412 human-annotated tasks across six categories, grounded in a realistic 3D urban simulator. Moreover, we propose -Manager-Actor (PMA), a novel agent tailored for CityEQA. PMA enables long-horizon planning and hierarchical task execution: the Planner breaks down the question answering into sub-tasks, the Manager maintains an object-centric cognitive map for spatial reasoning during the process control, and the specialized Actors handle navigation, exploration, and collection sub-tasks. Experiments demonstrate that PMA achieves 60.7% of human-level answering accuracy, significantly outperforming frontier-based baselines. While promising, the performance gap compared to humans highlights the need for enhanced visual reasoning in CityEQA. This work paves the way for future advancements in urban spatial intelligence. Dataset and code are available at https://github.com/tsinghua-fib-lab/CityEQA.git.

In Visual Question Answering (VQA), existing bilinear methods focus on the interaction between images and questions. As a result, the answers are either spliced into the questions or utilized as labels only for classification. On the other hand, trilinear models such as the CTI model efficiently utilize the inter-modality information between answers, questions, and images, while ignoring intra-modality information. Inspired by this observation, we propose a new trilinear interaction framework called MIRTT (Learning Multimodal Interaction Representations from Trilinear Transformers), incorporating the attention mechanisms for capturing inter-modality and intra-modality relationships. Moreover, we design a two-stage workflow where a bilinear model reduces the free-form, open-ended VQA problem into a multiple-choice VQA problem. Furthermore, to obtain accurate and generic multimodal representations, we pre-train MIRTT with masked language prediction. Our method achieves state-of-the-art performance on the Visual7W Telling task and VQA-1.0 Multiple Choice task and outperforms bilinear baselines on the VQA-2.0, TDIUC and GQA datasets.