After watching Robot Chicken's humorous skit, I'm very curious to know if any information exists regarding whether or not everyone's favorite Star Wars character actually found out about Anakin Skywalker's reincarnation as Vader or interacts with him at all after Revenge of the Sith?
Has it happened in any canon media? Hell no.
It hasn't happened in any of the properties that are recognised by LucasFilm as canon properties (i.e. the 6 feature films, Clone Wars film, Clone Wars TV series, Rebels TV series), nor has it happened in any of properties that have been reclassified as "legends" properties (i.e. the Ewoks films, Xmas Holiday Special, Radio plays, EU novels, comics, etc).
Has it happened in any licensed media? Yes.
Is it theoretically possible that they came into contact again? Yes.
Is it likely that they came into contact again? No.
As described in this answer here, the general public were probably unaware of Vader's presence and it's unlikely that he was regularly frequenting the Senate Chambers on Coruscant. Those books that do describe his dealings refer to his having a private palace near to the Emperor's offices with shielded corridors and its own landing platform. His guests are invariably Imperial spies, bounty hunters and Naval officers rather than Senators and politicians.