Well it all depends. The p95 has graded hammer standard action. It's yama bottom line action. The ydp 161 and 181 have graded hammer action. Supposedly it's to play notes faster repeatedly.
They also hold 128 notes before the piano lets a note go. The p95 holds 64 notes.
Id say the best of the ydp line is the 181, if yamaha didn't go so damn cheap throwing on the standard keyboard as well as skimp on poly and a couple other things it would definitely be the best. But they tried to make a cheap cvp to cheap.
Keyboard wise, if you wanted to compare to the ydp's id go with the p155. It's got the same action as the ydp (GH) it's got the same poly even has 4 lv stereo sampling. Just plug that puppy into a couple of nice speakers and your good to do.
Only question is do you want a piano console where it looks nice, has the pedals all their and you sit down and play.
Or are ya gonna sling the piano under ur arm and walk away with it? well and the speakers, and foot pedal.