Yadav had already separated the two Australian openers when he bowled Ed Cowan for 74 with 214 runs on the board in the hour before lunch.
Shaun Marsh managed just 11 runs on his home ground to continue his miserable form before Ricky Ponting had made seven when Yadav removed his middle stump for a third wicket.
Warner was next to go after the break and after his departure the wickets fell rapidly, the final six tumbling for just 79 runs.
Image: India's VVS Laxman catches Australia's Shaun Marsh on the second day of their cricket test match at the WACA in Perth, Australia, Saturday, Jan. 14, 2012. India made 161 in their first innings.