Not really. As Obi-Wan said to Luke on Dagobah when Yoda died "You accomplished little by rushing back prematurely. Luke then said "But I had to help my friends".. Obi-wan said "And did you help them?? It was they who had to save you"
Obi-Wan then further explained that that event was all part of his training. But as Yoda had come to learn to trust in the living force and allow life events to train Luke as he needed, Luke also had to learn this lesson the hard way. That is why Obi told him that it was part of his training.
If Luke had not gone to Cloud City, he would have had six months of solid training alone on Dagobah with Yoda, with Yoda giving him his full attention. Luke would have been even more powerful when he confronted Vader and the Emperor because of his natural talent, determination and his off the charts midi-chlorian count.
All Luke really did was to learn the discipline and maturity that he would have learned had he stayed on Dagoabah with Yoda, but learned it the hard and faster way but doing what his feelings told him instead of trusting in Yoda and Obi-wan. Though his feelings were understandable because Luke was orphaned twice and Leia and Han were his only "family" left, he later realized what a mistake it was to have left, especially given the fact that he was never able to complete his training with Yoda, which was somtehing that took him many, many years to fully be able to rectify.
Even though Luke did get the training manual from the crashed Chuuonthor ship, nothing can make up for personal one on one training with a Jedi Master of Yoda's skill, power, reputationa, knowledge, experience and teaching skill. Luke had to learn many things about the nature of the force, the galaxy, other threats out there and much more on his own, the hard way by leaving. These are all things that Yoda knew about and Yoda would have told them about all of them if he stayed to complete his training.