#include<bits/stdc++.h>
#define int long long
using namespace std;
signed main(){
    int N,Q; cin>>N>>Q;
    vector<int>A(Q),B(Q);
    for(int i=0;i<Q;i++) cin>>A[i],A[i]--;
    for(int i=0;i<Q;i++) cin>>B[i],B[i]--;
    vector<set<pair<int,int>>>dp(Q+1);
    for(int i=Q;i--;){
        set<pair<int,int>>&st=dp[i+1];
        auto it=st.upper_bound({A[i],N+2});
        if(it==st.begin() || prev(it)->second<=A[i]){
            auto itr=st.insert({A[i],A[i]+1}).first;
            if(itr!=st.begin() && prev(itr)->second==itr->first){
                itr=st.insert({prev(itr)->first,itr->second}).first;
                st.erase(prev(itr));
                st.erase(next(itr));
            }
            if(next(itr)!=st.end() && itr->second==next(itr)->first){
                itr=st.insert({itr->first,next(itr)->second}).first;
                st.erase(prev(itr));
                st.erase(next(itr));
            }
        }
        it=st.upper_bound({B[i],N+2});
        if(it==st.begin() || prev(it)->second<=B[i]){
            auto itr=st.insert({B[i],B[i]+1}).first;
            if(itr!=st.begin() && prev(itr)->second==itr->first){
                itr=st.insert({prev(itr)->first,itr->second}).first;
                st.erase(prev(itr));
                st.erase(next(itr));
            }
            if(next(itr)!=st.end() && itr->second==next(itr)->first){
                itr=st.insert({itr->first,next(itr)->second}).first;
                st.erase(prev(itr));
                st.erase(next(itr));
            }
        }
        if(st.size()){
            if(st.begin()->first==0) st.erase(next(st.insert({-1,st.begin()->second}).first));
            if(prev(st.end())->second==N) st.erase(prev(st.insert({prev(st.end())->first,N+1}).first));
            for(auto[a,b]:st){
                if(a+1<b-1)dp[i].insert({a+1,b-1});
            }
            if(st.begin()->first==-1) st.erase(prev(st.insert({0,st.begin()->second}).first));
            if(prev(st.end())->second==N+1) st.erase(next(st.insert({prev(st.end())->first,N}).first));
        }
    }
    if(dp[0].count({0,N})) puts("NO");
    else{
        puts("YES");
        int now=0;
        for(int i=0;i<N;i++){
            auto it=dp[0].upper_bound({i,N+2});
            if(it==dp[0].begin() || prev(it)->second<=i){
                now=i;
                break;
            }
        }
        cout<<now+1<<endl;
        for(int i=0;i<Q;i++){
            set<pair<int,int>> st=dp[i+1];
            set<pair<int,int>>::iterator it;
            if((it=st.upper_bound({now,N+2}))==st.begin() || prev(it)->second<=now){
                now=now;
            }else if(now!=0 && (it=st.upper_bound({now-1,N+2}))==st.begin() || prev(it)->second<=now-1){
                now=now-1;
            }else if((it=st.upper_bound({now+1,N+2}))==st.begin() || prev(it)->second<=now+1){
                now=now+1;
            }
            cout<<now+1<<endl;
        }
    }
}