He wanted to accompany General Skywalker on the stealth ship, but was opposed.
He didn't like the idea of attacking the Admiral because of his superior knowledge, but the Jedi did anyway. Yularen recognized the symbol of the suposedly dead Admiral Trench, who was a super tactician.
Admiral Yularen was with Jedi Generals Obi-Wan Kenobi and Anakin Skywalker when they tried to deliver supplies to Senator Bail Organa, but were stopped by Separatist forces led by Admiral Trench.
