Given the document below, you have to determine if "Yes" or "No", the summary is factually consistent with the document.

Document:
NAME_1: Then shall we hear their 'larum, and they ours. Now, NAME_2, I prithee, make us quick in work, That we with smoking swords may march from hence, To help our fielded friends! Come, blow thy blast. NAME_3, is he within your walls? First Senator: No, nor a man that fears you less than he, That's lesser than a little. Hark! our drums Are bringing forth our youth. We'll break our walls, Rather than they shall pound us up: our gates, Which yet seem shut, we, have but pinn'd with rushes; They'll open of themselves. Hark you. far off! There is Aufidius; list, what work he makes Amongst your cloven army. NAME_1: O, they are at it! NAME_4: Their noise be our instruction. Ladders, ho! NAME_1: They fear us not, but issue forth their city. Now put your shields before your hearts, and fight With hearts more proof than shields. Advance, brave Titus: They do disdain us much beyond our thoughts, Which makes me sweat with wrath. Come on, my fellows: He that retires I'll take him for a

Summary:
1. NAME_1, NAME_4, and the Romans prepare to confront their foes, led by their antagonist, Aufidius.
2. Despite setbacks, NAME_1 and his men display their determination and bravery in battle, looking to achieve victory and preserve Rome.

Is the summary factually consistent with the document? (Yes/No)
Start your answer explicitly with "Yes" or "No", and if you answer no, explain which sen