[Python] Fill nan values if another column value is not in list

I have the following dataframe:

import pandas as pd
import numpy as np
df = pd.DataFrame({
'Name': ['A','B','A','B','A','B','A','B'],
'Include':[np.nan,np.nan,np.nan,np.nan,np.nan,np.nan,np.nan,np.nan],
'Category':['Cat','Dog','Car','Dog','Bike','Dog','Cat','Bike'],
})

df




I am trying to fill the Include column with the string yes if the column Category does not match the following list:

exluded = ['Car','Bike']


So that my expected output is this:



Any ideas of how to achieve this?

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