A "map" in YAML (and in Go) is what you might call a "dict" in Python or a "Hash" in Ruby or Perl: a mapping from key to value.
In YAML, a map can look like this:
key1: value1
key2: value2
key3: value3
although it can also be represented more compactly as
{ key1: value1, key2: value2, key3: value3 }
There are also "sequences" (= "list" or "array" in other languages). Those are
- value1
- value2
- value3
or
[ value1, value2, value3 ]
Both sequences and maps can contain other sequences and/or maps, by nesting.
The error message is saying you tried to put a map value in a place where one was not expected by prometheus. That is: a file can be structurally valid YAML, but still invalid input to prometheus, because it has the wrong types of object in the wrong places.