#!/usr/bin/env ruby

MAX_T = 10000
MAX_N = 27
MAX_COST = 1e8
PHI = Math.sqrt(1.25) + 0.5  # 1.61803398875, golden ratio

class IsSortingOk
  def initialize data
    @data = data
  end
  def is_sorting?
    true
  end
  def to_s
    "Yes"
  end
  def data
    @data
  end
end

class IsSortingNg
  def initialize data
    @data = data
  end
  def is_sorting?
    false
  end
  def to_s
    "No"
  end
  def data
    @data
  end
end

def is_sorting_network(n, cmps)
  raise "Invalid input" unless n >= 2 && cmps.all? { |a, b| 0 <= a && a < b && b < n }
  m = cmps.length
  unused = Array.new(m, true)
  unsorted = Array.new(n - 1, false)

  pbits = 15
  pfull = (1 << (1 << pbits)) - 1
  lows = Array.new(pbits, 0)
  pbits.times do |i|
    le = ((1 << (1 << i)) - 1) << (1 << i)
    (pbits - i - 1).times do |j|
      le |= (le << (2 << (i + j)))
    end
    lows[i] = le
  end
  (1 << [n - pbits, 0].max).times do |i|
    p = lows.dup
    (n - pbits).times do |j|
      p.push(((i >> j) & 1) == 1 ? pfull : 0)
    end
    m.times do |j|
      a, b = cmps[j]
      pa, pb = p[a], p[b]
      na = (pa & pb)
      if pa != na
        p[a], p[b], unused[j] = na, (pa | pb), false
      end
    end
    (n - 1).times do |j|
      unsorted[j] = true if (p[j] & ~p[j + 1]) != 0
    end
  end

  if unsorted.any?
    return IsSortingNg.new(unsorted)
  end
  return IsSortingOk.new(unused)
end

def main
  RubyVM::YJIT.enable

  # cost of the test cases
  cost = 0
  # number of test cases
  t = gets.to_i
  raise "Invalid input" unless (1..MAX_T).include?(t)

  t.times do
    # number of elements, number of comparisons
    n, m = gets.split.map(&:to_i)
    raise "Invalid input" unless (2..MAX_N).include?(n) && (1..(n * (n - 1) / 2)).include?(m)
    cost += m * PHI**n
    raise "Cost too high" if cost > MAX_COST
    # 1-indexed -> 0-indexed
    va = gets.split.map {|x| x.to_i - 1 }
    vb = gets.split.map {|x| x.to_i - 1 }
    cmps = va.zip(vb)
    cmps.each do |a, b|
      raise "Invalid input" unless 0 <= a && a < b && b < n
    end
    result = is_sorting_network(n, cmps)
    puts result
    if result.is_sorting?
      raise "Invalid output" unless result.data.length == m
      puts result.data.count { |x| x }
      puts result.data.each_with_index.filter_map { |x, i| i + 1 if x }.join(' ')
    else
      raise "Invalid output" unless result.data.length == n - 1
      puts result.data.count { |x| x }
      puts result.data.each_with_index.filter_map { |x, i| i + 1 if x }.join(' ')
    end
  end
end

main