In "Revenge of the Sith", where did Yoda find Palpatine and then battle him?

In “Revenge of the Sith,” Yoda finds Palpatine and battles him on Coruscant. The duel takes place in the Chancellor’s office before spilling into the Galactic Senate chamber, both major locations on the capital planet.

After the Jedi discover that Chancellor Palpatine is secretly Darth Sidious, Yoda confronts him while Obi-Wan Kenobi goes after Anakin Skywalker, who has become Darth Vader. Yoda reaches Palpatine’s office with assistance from Chewbacca and Tarfful, then engages the Sith Lord in a lightsaber and Force battle.

The fight continues in the Senate, where Palpatine hurls giant Senate pods at Yoda. Their confrontation ends without a decisive victory: Yoda escapes Coruscant after being unable to defeat Palpatine, while the Sith consolidates control of the Republic.

A common mix-up is confusing this duel with the opening Battle of Coruscant, which is also set above the same planet. The question asks about Yoda’s encounter with Palpatine, specifically, and that location is Coruscant.