Australia crossed the 100-run mark, with a lead of over 70 runs, on the third day of the fourth cricket Test match against India.
Shaun Marsh (1), who was claimed by spinner Ravindra Jadeja, and Glenn Maxwell were the fifth and sixth Aussie wickets to fall.
Earlier, after bowling India out for 332 in the first session, Australia struggled right from the word go.
Continuing his poor form, opener David Warner (6) was the first to return to the pavilion with the visitors' scoreboard reading 10 runs.
Yadav bowled an in-swinger delivery that found the edge of the bat and landed in wicketkeeper Wriddhiman Saha's gloves.
Incoming batsman Steve Smith, who scored a brilliant century in the first innings, could only manage 17 runs in the second innings.
Smith was bowled by Kumar, who delivered a short ball which, taking the bottom edge, flattened the off stump.
Youngster Matt Renshaw (8) was the next batsmen to leave—sent packing in the next over by Yadav.
A short-of-length delivery, rising into the chest, did the trick for Yadav and the visitors were reeling at 31/3.
Middle order batsmen Peter Handscomb (18) was then sent back cheaply by Ashwin.
Earlier, India were bowled out for 332 at lunch, taking a 32-run lead in the first innings.
