According to the YAML 1.2 specification simply advises using printable characters with explicit control characters being excluded (see here):
In constructing key names, characters the YAML spec. uses to denote syntax or special meaning need to be avoided (e.g. # denotes comment, > denotes folding, - denotes list, etc.).
Essentially, you are left to the relative coding conventions (restrictions) by whatever code (parser/tool implementation) that needs to consume your YAML document. The more you stick with alphanumerics the better; it has simply been our experience that the underscore has worked with most tooling we have encountered.
It has been a shared practice with others we work with to convert the period character . to an underscore character _ when mapping namespace syntax that uses periods to YAML. Some people have similarly used hyphens successfully, but we have seen it misconstrued in some implementations.