<P> In The Force Awakens, set 30 years after Return of the Jedi, Yoda's voice is heard by the young scavenger Rey (Daisy Ridley) after she discovers Luke Skywalker's lightsaber . </P> <P> Yoda appears in Star Wars: The Clone Wars, voiced by Tom Kane . In the prequel film Star Wars: The Clone Wars, Yoda assigns Anakin Skywalker his own Padawan, Ahsoka Tano, as he believes that she will help Anakin grow as a Jedi and as a person . Throughout most of the series, Yoda spends his time on Coruscant with the Jedi Council, but he occasionally leaves for certain tasks, such as negotiations with King Katuunko on Rugosa, and a confrontation with Asajj Ventress' droid army . Yoda also watches over Anakin and Ahsoka throughout the series, pleased that they are both maturing due to each other's influence . However, in the final arc of season five, Ahsoka is framed for a crime she didn't commit, and Yoda and the Jedi Council expel her, at the demand of Admiral Tarkin, and turn her over to the Republic military . Along with other members of the Council, Yoda observes Ahsoka's trial, but Anakin bursts in with the true culprit, Barriss Offee, before the verdict can be read . Afterwards Yoda, Anakin and the Council personally invite Ahsoka to rejoin the Order, but to their shock, she refuses and leaves . According to Dave Filoni, Yoda blames himself for Ahsoka's departure, as he had made her Anakin's padawan in the first place . </P> <P> In the final arc of the final season, Yoda hears Qui - Gon Jinn speaking to him from beyond the grave . Yoda flees the Jedi Temple with R2 - D2 to travel to Dagobah, the planet he would make his home when he enters exile after events of Revenge of the Sith, to find answers . Shown cryptic visions of the fall of the Jedi, Yoda learns he has been "chosen" to learn how to manifest his consciousness after death as a Force ghost . Yoda is tested by a group of spirit priestesses in order to overcome trials and temptations on his pilgrimage; one of these tests is to face an illusion of ancient Sith lord Darth Bane . Yoda's final test is to resist an attempt by Darth Sidious and Dooku to lure him to the dark side with a false vision of deceased Jedi Master Sifo Dyas . Yoda engages in a metaphysical battle with Sidious, and appears to sacrifice his life in order to save Anakin's - only to awaken and discover that the battle was merely a vision, and that he has passed the test . The priestesses inform Yoda that his training will resume in time . </P> <P> Yoda was heard in the Star Wars Rebels episode "Path of the Jedi" with Frank Oz reprising the role for the first time since Revenge of the Sith . He communicates with Padawan Ezra Bridger and his master Kanan Jarrus during their experience in an ancient temple on Lothal, and helps the pair do some soul - searching to analyze their true motivations . He appears physically for the first time, in the season 2 episode "Shroud of Darkness", in which he tells Ezra he should find Malachor and reunites with Ahsoka after nearly 20 years . </P>

Who teaches yoda to return through the force