The Yeo atlas distributed by the FreeSurfer developers has been available on the FSAverage brain for a while:
http://neuroimage.usc.edu/brainstorm/Tutorials/LabelFreeSurfer#FSAverage_template
FreeSurfer 5.3 does not generate individual versions of this Yeo atlas, so it’s not available on any other brain.
You can ask them if they are planning to integrate this atlas in the default FreeSurfer segmentation at some point.