import java.util.*;
import java.io.*;

public class Main {
    public static void solve(ContestScanner sc, ContestPrinter ou) {
        int n = sc.nextInt();
        int q = sc.nextInt();
        var a = sc.nextIntArray(q, i -> i - 1);
        var b = sc.nextIntArray(q, i -> i - 1);
        for (int i = 0; i < q; i++) {
            if (a[i] > b[i]) {
                int tmp = a[i];
                a[i] = b[i];
                b[i] = tmp;
            }
        }
        if (q == 1) {
            for (int i = 0; i < n; i++) {
                if (a[0] != i && b[0] != i) {
                    ou.println("YES");
                    ou.println(i);
                    ou.println(i);
                    return;
                }
            }
            ou.println("NO");
            return;
        }
        var g = new ArrayList<ArrayList<Point>>();
        var kk = new ArrayList<ArrayList<Point>>();
        var k = new int[q];
        for (int i = 0; i <= q; i++) {
            g.add(new ArrayList<>());
            kk.add(new ArrayList<>());
        }
        g.get(0).add(new Point(0, n - 1));
        kk.get(0).add(new Point(0, n - 1));
        for (int i = 0; i < q; i++) {
            for (Point p : g.get(i)) {
                p.x--;
                p.y++;
                p.x = max(0, p.x);
                p.y = min(n - 1, p.y);
                if (p.x <= a[i] && a[i] <= p.y) {
                    g.get(i + 1).add(new Point(p.x, a[i] - 1));
                    p.x = a[i] + 1;
                }
                if (p.x <= b[i] && b[i] <= p.y) {
                    g.get(i + 1).add(new Point(p.x, b[i] - 1));
                    p.x = b[i] + 1;
                }
                g.get(i + 1).add(new Point(p.x, p.y));
            }
            if (!g.get(i).isEmpty()) {
                try {
                    var gg = new ArrayList<Point>();
                    Point r = g.get(i + 1).remove(0);
                    while (r.x > r.y) {
                        r = g.get(i + 1).remove(0);
                    }
                    for (Point p : g.get(i + 1)) {
                        if (p.x <= p.y) {
                            if (r.y + 1 >= p.x) {
                                r.x = min(r.x, p.x);
                                r.y = max(r.y, p.y);
                            } else {
                                gg.add(new Point(r.x, r.y));
                                r = p;
                            }
                        }
                    }
                    gg.add(r);
                    g.get(i + 1).clear();
                    for (Point p : gg) {
                        g.get(i + 1).add(new Point(p.x, p.y));
                        kk.get(i + 1).add(new Point(p.x, p.y));
                    }
                } catch (IndexOutOfBoundsException $) {
                }
            }
        }
        if (g.get(q).isEmpty())
            ou.println("NO");
        else {
            k[q - 1] = g.get(q).remove(0).x;
            for (int i = q - 2; i >= 0; i--) {
                boolean aa, bb;
                aa = bb = false;
                for (var p : kk.get(i + 1)) {
                    if (p.x <= k[i + 1] - 1 && k[i + 1] - 1 <= p.y)
                        aa = true;
                    if (p.x <= k[i + 1] && k[i + 1] <= p.y)
                        bb = true;
                }
                if (k[i + 1] - 1 < 0)
                    aa = false;
                if (aa)
                    k[i] = k[i + 1] - 1;
                else if (bb)
                    k[i] = k[i + 1];
                else
                    k[i] = k[i + 1] + 1;
            }
            ou.println("YES");
            ou.println(k[0] + 1);
            ou.printlnArray(k, i -> i + 1);
        }
    }

    public static void main(String[] args) {
        var sc = new ContestScanner();
        var ou = new ContestPrinter();
        solve(sc, ou);
        ou.flush();
        ou.close();
    }

    public static int max(int s, int... a) {
        for (int i : a)
            if (s < i)
                s = i;
        return s;
    }

    public static long max(long s, long... a) {
        for (long i : a)
            if (s < i)
                s = i;
        return s;
    }

    public static int min(int s, int... a) {
        for (int i : a)
            if (s > i)
                s = i;
        return s;
    }

    public static long min(long s, long... a) {
        for (long i : a)
            if (s > i)
                s = i;
        return s;
    }

    static class Point {
        int x;
        int y;

        Point(int x, int y) {
            this.x = x;
            this.y = y;
        }

        int compareTo(Point p) {
            long c = this.x - p.x;
            if (c < 0)
                return -1;
            if (c > 0)
                return 1;
            return 0;
        }

        boolean equals(Point p) {
            return this.x == p.x && this.y == p.y;
        }

        String r() {
            return this.x + " " + this.y;
        }
    }

    static class Point2 {
        long x;
        int y;

        Point2(long x, int y) {
            this.x = x;
            this.y = y;
        }

        int compareTo(Point2 p) {
            long c = this.x - p.x;
            if (c < 0)
                return -1;
            if (c > 0)
                return 1;
            return 0;
        }

        boolean equals(Point2 p) {
            return this.x == p.x && this.y == p.y;
        }
    }
}

class ContestScanner {
    private final InputStream in;
    private final byte[] buffer = new byte[1024];
    private int ptr = 0;
    private int buflen = 0;

    public ContestScanner(InputStream in) {
        this.in = in;
    }

    public ContestScanner() {
        this(System.in);
    }

    private boolean hasNextByte() {
        if (ptr < buflen)
            return true;
        ptr = 0;
        try {
            buflen = in.read(buffer);
        } catch (IOException e) {
            e.printStackTrace();
        }
        if (buflen <= 0)
            return false;
        return true;
    }

    private int readByte() {
        return hasNextByte() ? buffer[ptr++] : -1;
    }

    private static boolean isPrintableChar(int c) {
        return 33 <= c && c <= 126;
    }

    public boolean hasNext() {
        while (hasNextByte() && !isPrintableChar(buffer[ptr]))
            ptr++;
        return hasNextByte();
    }

    public String next() {
        if (!hasNext())
            throw new NoSuchElementException();
        StringBuilder sb = new StringBuilder();
        int b = readByte();
        while (isPrintableChar(b)) {
            sb.appendCodePoint(b);
            b = readByte();
        }
        return sb.toString();
    }

    public void nextThrow(int n) {
        for (int i = 0; i < n; i++)
            this.next();
    }

    public void nextThrow() {
        this.nextThrow(1);
    }

    public long nextLong() {
        if (!hasNext())
            throw new NoSuchElementException();
        long n = 0;
        boolean minus = false;
        int b = readByte();
        if (b == '-') {
            minus = true;
            b = readByte();
        }
        if (b < '0' || '9' < b)
            throw new NumberFormatException();
        while (true) {
            if ('0' <= b && b <= '9') {
                n *= 10;
                n += b - '0';
            } else if (b == -1 || !isPrintableChar(b))
                return minus ? -n : n;
            else
                throw new NumberFormatException();
            b = readByte();
        }
    }

    public int nextInt() {
        long nl = nextLong();
        if (nl < Integer.MIN_VALUE || nl > Integer.MAX_VALUE)
            throw new NumberFormatException();
        return (int) nl;
    }

    public double nextDouble() {
        return Double.parseDouble(next());
    }

    public boolean[] nextBoolean(char True) {
        String s = this.next();
        int n = s.length();
        boolean[] array = new boolean[n];
        for (int i = 0; i < n; i++)
            array[i] = s.charAt(i) == True;
        return array;
    }

    public long[] nextLongArray(int length) {
        long[] array = new long[length];
        for (int i = 0; i < length; i++)
            array[i] = this.nextLong();
        return array;
    }

    public long[] nextLongArray(int length, java.util.function.LongUnaryOperator map) {
        long[] array = new long[length];
        for (int i = 0; i < length; i++)
            array[i] = map.applyAsLong(this.nextLong());
        return array;
    }

    public int[] nextIntArray(int length) {
        int[] array = new int[length];
        for (int i = 0; i < length; i++)
            array[i] = this.nextInt();
        return array;
    }

    public int[] nextIntArray(int length, java.util.function.IntUnaryOperator map) {
        int[] array = new int[length];
        for (int i = 0; i < length; i++)
            array[i] = map.applyAsInt(this.nextInt());
        return array;
    }

    public int[] nextIntArray(int length, int[] array) {
        int n = length + array.length;
        int[] a = new int[n];
        for (int i = 0; i < length; i++)
            a[i] = this.nextInt();
        for (int i = length; i < n; i++)
            a[i] = array[i - length];
        return a;
    }

    public Integer[] nextIntegerArray(int length, java.util.function.IntUnaryOperator map) {
        Integer[] array = new Integer[length];
        for (int i = 0; i < length; i++)
            array[i] = map.applyAsInt(this.nextInt());
        return array;
    }

    public Integer[] nextIntegerArray(int length) {
        Integer[] array = new Integer[length];
        for (int i = 0; i < length; i++)
            array[i] = this.nextInt();
        return array;
    }

    public double[] nextDoubleArray(int length) {
        double[] array = new double[length];
        for (int i = 0; i < length; i++)
            array[i] = this.nextDouble();
        return array;
    }

    public double[] nextDoubleArray(int length, java.util.function.DoubleUnaryOperator map) {
        double[] array = new double[length];
        for (int i = 0; i < length; i++)
            array[i] = map.applyAsDouble(this.nextDouble());
        return array;
    }

    public String[] nextArray(int length) {
        String[] array = new String[length];
        for (int i = 0; i < length; i++)
            array[i] = this.next();
        return array;
    }

    public long[][] nextLongMatrix(int height, int width) {
        long[][] mat = new long[height][width];
        for (int h = 0; h < height; h++)
            for (int w = 0; w < width; w++)
                mat[h][w] = this.nextLong();
        return mat;
    }

    public int[][] nextIntMatrix(int height, int width) {
        int[][] mat = new int[height][width];
        for (int h = 0; h < height; h++)
            for (int w = 0; w < width; w++)
                mat[h][w] = this.nextInt();
        return mat;
    }

    public double[][] nextDoubleMatrix(int height, int width) {
        double[][] mat = new double[height][width];
        for (int h = 0; h < height; h++)
            for (int w = 0; w < width; w++)
                mat[h][w] = this.nextDouble();
        return mat;
    }

    public boolean[][] nextBooleanMatrix(int height, int width, char True) {
        boolean[][] mat = new boolean[height][width];
        for (int h = 0; h < height; h++) {
            String s = this.next();
            for (int w = 0; w < width; w++)
                mat[h][w] = s.charAt(w) == True;
        }
        return mat;
    }

    public char[][] nextCharMatrix(int height, int width) {
        char[][] mat = new char[height][width];
        for (int h = 0; h < height; h++) {
            String s = this.next();
            for (int w = 0; w < width; w++)
                mat[h][w] = s.charAt(w);
        }
        return mat;
    }

    public char[][] nextCharMatrix(int height, int width, int h, int w, char c) {
        char[][] mat = new char[height + 2 * h][width + 2 * w];
        for (int i = 0; i < height; i++) {
            String s = this.next();
            for (int j = 0; j < width; j++)
                mat[i + h][j + w] = s.charAt(j);
        }
        for (int i = 0; i < h; i++)
            for (int j = 0; j < 2 * w + width; j++)
                mat[i][j] = c;
        for (int i = h + height; i < 2 * h + height; i++)
            for (int j = 0; j < 2 * w + width; j++)
                mat[i][j] = c;
        for (int i = h; i < h + height; i++) {
            for (int j = 0; j < w; j++)
                mat[i][j] = c;
            for (int j = w + width; j < 2 * w + width; j++)
                mat[i][j] = c;
        }
        return mat;
    }

    public boolean[][] nextBooleanMatrix(int height, int width, int h, int w, char c) {
        boolean[][] mat = new boolean[height + 2 * h][width + 2 * w];
        for (int i = 0; i < height; i++) {
            String s = this.next();
            for (int j = 0; j < width; j++)
                mat[i + h][j + w] = s.charAt(j) == c;
        }
        return mat;
    }
}

class ContestPrinter extends PrintWriter {
    public ContestPrinter(PrintStream stream) {
        super(stream);
    }

    public ContestPrinter() {
        super(System.out);
    }

    private static String dtos(double x, int n) {
        StringBuilder sb = new StringBuilder();
        if (x < 0) {
            sb.append('-');
            x = -x;
        }
        x += Math.pow(10, -n) / 2;
        sb.append((long) x);
        sb.append(".");
        x -= (long) x;
        for (int i = 0; i < n; i++) {
            x *= 10;
            sb.append((int) x);
            x -= (int) x;
        }
        return sb.toString();
    }

    @Override
    public void print(float f) {
        super.print(dtos(f, 20));
    }

    @Override
    public void println(float f) {
        super.println(dtos(f, 20));
    }

    @Override
    public void print(double d) {
        super.print(dtos(d, 20));
    }

    @Override
    public void println(double d) {
        super.println(dtos(d, 20));
    }

    public void printlnArray(String[] array) {
        for (String i : array)
            super.println(i);
    }

    public void printArray(int[] array, String separator) {
        int n = array.length - 1;
        for (int i = 0; i < n; i++) {
            super.print(array[i]);
            super.print(separator);
        }
        super.println(array[n]);
    }

    public void printArray(int[] array) {
        this.printArray(array, " ");
    }

    public void printlnArray(int[] array) {
        for (int i : array)
            super.println(i);
    }

    public void printArray(int[] array, String separator, java.util.function.IntUnaryOperator map) {
        int n = array.length - 1;
        for (int i = 0; i < n; i++) {
            super.print(map.applyAsInt(array[i]));
            super.print(separator);
        }
        super.println(map.applyAsInt(array[n]));
    }

    public void printlnArray(int[] array, java.util.function.IntUnaryOperator map) {
        for (int i : array)
            super.println(map.applyAsInt(i));
    }

    public void printlnArray(long[] array, java.util.function.LongUnaryOperator map) {
        for (long i : array)
            super.println(map.applyAsLong(i));
    }

    public void printArray(int[] array, java.util.function.IntUnaryOperator map) {
        this.printArray(array, " ", map);
    }

    public void printArray(long[] array, String separator) {
        int n = array.length - 1;
        for (int i = 0; i < n; i++) {
            super.print(array[i]);
            super.print(separator);
        }
        super.println(array[n]);
    }

    public void printArray(long[] array) {
        this.printArray(array, " ");
    }

    public void printlnArray(long[] array) {
        for (long i : array)
            super.println(i);
    }

    public void printArray(boolean[] array, String a, String b) {
        int n = array.length - 1;
        for (int i = 0; i < n; i++)
            super.print((array[i] ? a : b) + " ");
        super.println(array[n] ? a : b);
    }

    public void printArray(boolean[] array) {
        this.printArray(array, "Y", "N");
    }

    public void printArray(long[] array, String separator, java.util.function.LongUnaryOperator map) {
        int n = array.length - 1;
        for (int i = 0; i < n; i++) {
            super.print(map.applyAsLong(array[i]));
            super.print(separator);
        }
        super.println(map.applyAsLong(array[n]));
    }

    public void printArray(long[] array, java.util.function.LongUnaryOperator map) {
        this.printArray(array, " ", map);
    }

    public void printArray(ArrayList<?> array) {
        this.printArray(array, " ");
    }

    public void printArray(ArrayList<?> array, String separator) {
        int n = array.size() - 1;
        for (int i = 0; i < n; i++) {
            super.print(array.get(i).toString());
            super.print(separator);
        }
        super.println(array.get(n).toString());
    }

    public void printlnArray(ArrayList<?> array) {
        int n = array.size();
        for (int i = 0; i < n; i++)
            super.println(array.get(i).toString());
    }

    public void printArray(int[][] array) {
        int n = array.length;
        if (n == 0)
            return;
        int m = array[0].length - 1;
        for (int i = 0; i < n; i++) {
            for (int j = 0; j < m; j++)
                super.print(array[i][j] + " ");
            super.println(array[i][m]);
        }
    }

    public void printArray(long[][] array) {
        int n = array.length;
        if (n == 0)
            return;
        int m = array[0].length - 1;
        for (int i = 0; i < n; i++) {
            for (int j = 0; j < m; j++)
                super.print(array[i][j] + " ");
            super.println(array[i][m]);
        }
    }

    // debug
    public void printArray(boolean[][] array) {
        int n = array.length;
        if (n == 0)
            return;
        int m = array[0].length - 1;
        for (int i = 0; i < n; i++) {
            for (int j = 0; j < m; j++)
                super.print(array[i][j] ? "○ " : "× ");
            super.println(array[i][m] ? "○" : "×");
        }
    }
}