Hal 9000 said:
Thanks to Snooker and Sir Ridley, removed R2 and 3PO from the birth of the twins. This eases continuity tensions with the original trilogy, avoiding awkward questions like, “Shouldn’t R2 have recognized Yoda on Dagobah?”
Well, Yoda went to Dagobah with R2 while he’s on an adventure in a Clone Wars arc. R2 did recognized Yoda.