Be the first player to reach 9 Victory Points. If both players end a round tied, then play another round (and continue until the tie is broken).
Each map will have two control points (towards the center of the map). At the end of the round (after resolving all other end of round procedures like lava and Wannok), if you have more army cards within two spaces of a control point than your opponent, then you score Victory Points equal to the round number. Repeat this process for the other control point. 
Example: 
At the end of Round 3, Player A has 5 Gelryie Vanguard, Queen Maladrix, and 2 Festering Honor Guard within 2 spaces of a control point. Player B has Ewashia, Halushia, and Shiori within 2 spaces of that same control point. Player A has 4 army cards within range (2 cards of Gelryie, Maladrix, and 1 card of FHG), whereas Player B has 3 army cards within range (Ewashia, Halushia, and Shiori). Player A would score 3 Victory Points for that control point. Repeat this process for the other control point.