#include <bits/stdc++.h>
#include <atcoder/modint>
using namespace atcoder;
//#pragma GCC optimize("Ofast")
using namespace std;
#define reps(i,s,n) for(int i = s; i < n; i++)
#define rep(i,n) reps(i,0,n)
#define Rreps(i,n,e) for(int i = n - 1; i >= e; --i)
#define Rrep(i,n) Rreps(i,n,0)
#define ALL(a) a.begin(), a.end()

using ll = long long;
using vec = vector<ll>;
using mat = vector<vec>;

ll N,M,H,W,Q,K,A,B;
string S;
using P = pair<ll, ll>;
using tp = tuple<ll, ll, ll>;
const ll INF = (1LL<<61);

template<class T> bool chmin(T &a, const T b){
    if(a > b) {a = b; return true;}
    else return false;
}
template<class T> bool chmax(T &a, const T b){
    if(a < b) {a = b; return true;}
    else return false;
}
template<class T> void my_printv(std::vector<T> v,bool endline = true){
    if(!v.empty()){
        for(std::size_t i{}; i<v.size()-1; ++i) std::cout<<v[i]<<" ";
        std::cout<<v.back();
    }
    if(endline) std::cout<<std::endl;
}


int main() {
    cin.tie(nullptr);
    ios::sync_with_stdio(false);
    cin>>N>>Q;
    vec a(Q), b(Q);
    rep(i, Q) {
        cin>>a[i];
        --a[i];
    }
    rep(i, Q) {
        cin>>b[i];
        --b[i];
        if(a[i] > b[i]) swap(a[i], b[i]);
    }
    vec left(Q, -1), right(Q, N);
    Rrep(i, Q){
        if(i != Q - 1) {
            chmax(left[i], left[i + 1] - 1);
            chmin(right[i], right[i + 1] + 1);
        }
        if(a[i] == left[i] + 1 || b[i] == left[i] + 1){
            left[i] += 1 + (a[i] == left[i] + 1 && b[i] == left[i] + 2);
        }
        if(a[i] == right[i] - 1 || b[i] == right[i] - 1){
            right[i] -= 1 + (a[i] == right[i] - 2 && b[i] == right[i] - 1);
        }
        if(left[i] >= right[i]){
            cout<<"NO"<<endl;
            exit(0);
        }
    }
    cout<<"YES"<<endl;
    int pos = max(0LL, left[0]);
    cout<<pos + 1<<endl;
    rep(i, Q){
        rep(j, 3){
            int nxtpos = pos - 1 + j;
            if(nxtpos < 0 || nxtpos >= N || nxtpos <= left[i] || nxtpos >= right[i] || nxtpos == a[i] || nxtpos == b[i]) continue;
            pos = nxtpos;
            break;
        }
        cout<<pos + 1<<endl;
    }
}