use the HtmlControl version of the radio buttons instead of a RadioButtonList
<input type="radio" value=""Yes" id="rbYes" runat="server" name="YesNo" />
<input type="radio" value=""No" id="rbNo" runat="server" name="YesNo" />
On the popup extender, set the TargetControlID to whatever the radio button you want to open the popup.