## Appendix A Prompt
\begin{table}
\begin{tabular}{c c} \hline \hline
**No.** & **Prompt** \\ \hline
1 & Drivable Probability: 95\% \\  & Reasons for the Estimation: \\  & Stable and Clear Path-The road is made of compacted gravel and \\  & dirt, which provides a stable surface for an armored vehicle. \\  & There are no major obstacles like large rocks, deep puddles, or \\  & steep inclines that would hinder movement./ Wide and Open Space-The \\  & path is relatively wide, and there are no tight turns or narrow \\  & corridors that could restrict maneuverability. The vehicle should \\  & be able to navigate without significant difficulty./ Potential \\  & Pedestrian Presence-While the area appears mostly clear, there is \\  & a possibility of human activity due to the presence of buildings, \\  & furniture, and objects scattered around. Since the vehicle cannot \\  & hit people, extra caution would be needed, slightly reducing the \\  & probability of completely unrestricted movement. Given these \\  & factors, the environment is highly drivable, with only minor \\  & concerns related to human presence. \\ \hline
2 & Drivable Probability: 90\% \\  & Reasons for Estimation: \\  & Presence of a Clear Road-The image shows a gravel road that is \\  & relatively even and free of major obstacles. It appears to \\  & continue straight through the area, making it suitable for an \\  & armored vehicle./ Buildings and Urban Elements-The presence of \\  & buildings and structures suggests that this is a village or a \\  & training area, while the armored vehicle can navigate through, \\  & care must be taken to avoid damaging infrastructure or any unseen \\  & individuals./ Potential Small Obstacles-There are some scattered \\  & objects such as tables, benches, and equipment near the road, while \\  & these do not directly block the path, they could be obstacles if \\  & the vehicle deviates from the main route. Overall, the terrain is \\  & well-suited for an armored vehicle, but caution is required due to \\  & the proximity of buildings and possible unseen pedestrians. \\ \hline
3 & Drivable Probability: 95\% \\  & Reasons for Estimation: \\  & Terrain Factors: The path appears medium to wide (score: 1 \\  & or 0), making it suitable for an armored vehicle. The surface \\  & consists mainly of gravel (1) and some soil (0), which is firm \\  & and stable, reducing the risk of getting stuck. The terrain \\  & is flat (0), eliminating concerns about inclines or difficult \\  & slopes./ Obstacle Factors: Minimal natural obstacles like trees, \\  & branches, or shrubs-mostly artificial objects (benches, scattered \\  & items). There are some small artificial objects, but the vehicle \\  & can either navigate around or push through them. No major water \\  & bodies or deep mud present./ Environmental Factors: The weather is \\  & clear (0), with good visibility (0), allowing for easy navigation. \\  & The area appears urban or semi-urban, reducing the likelihood \\  & of unpredictable terrain./ Gaussian Distribution for Drivable \\  & Probability: Mean : 95\%, Standard Deviation : 3\%, Distribution \\  & Shape: Slightly right-skewed Gaussian (favoring high drivable \\  & probability with a small margin for minor obstacles) Overall, a 95\% \\  & probability suggests that the path is highly drivable, with only \\  & minor obstructions that an armored vehicle can easily manage. The \\  & only slight concerns come from potential artificial obstacles, but \\  & they do not significantly impact maneuverability. \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Outputs corresponding to input Figure 1b with proposed prompts. **No. ** **Prompt**

```
Drawable Probability: 90%  Reasons for the Estimation:  Paved and Grass Terrain-The image shows a combination of a narrow paved  road and grassy terrain. The armored vehicle can handle both surfaces with  ease, and there are no significant obstructions such as deep mud, large  rocks, or steep inclines that would hinder movement./ Minimal Obstacles-The  road appears relatively clear, with no visible barriers.