As Yoda arrived on Coruscant to face Sidious, he was pretty confident that his 900 years of experience would allow him to defeat the Sith Lord. According to the novelization, Yoda realized during the battle that Palpatine was indeed correct in his assertion that Yoda could not defeat him. 1000 years of Sith history had been dedicated to matching the Jedi in terms of force power and lightsaber combat, meaning it was doubtful Yoda could emerge victorious. However, more importantly, Yoda realized that even if he struck the dark lord down, the entire force and organization of the galaxy had shifted to the dark side, meaning the Jedi could no longer be victorious against the Sith, forcing him to retreat.

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