Patching line 259 of /wp-content/plugins/wordpress-seo/inc/wpseo-non-ajax-functions.php as follows stops the error – but the function does nothing so may as well wait for Yoast to fix this if you can live with the warning message.
function wpseo_upgrader_process_complete( $upgrader_object, $context_array, $themes = array() ) {
The reason for the failure is that WordPress 3.7 is only passing 2 parameters instead of 3 on a completion of an upgrade in file /wp-admin/includes/class-wp-upgrader.php
In WordPress 3.6.1 we had do_action( 'upgrader_process_complete', $this, array( 'action' => 'update', 'type' => 'theme' ), $theme ); //3 parameters
In WordPress 3.7 we have do_action( 'upgrader_process_complete', $this, array( 'action' => 'update', 'type' => 'core' ) ); // only 2 parameters
I suspect a few other plugins will hit this problem too.