Yes, but the Pod missed him when he jumped. He was still standing in the Pod when it passed by, and the Pod completely missed him. And, I am not necessarily as much a Palpatine fan as one who can see the dramatic intention clearly. Yoda's character is completely weakened if he runs from a battle he was about to win for no reason. So, its either a Palpatine who has an edge, or a cowardly Yoda.