The Robins had gone in front through a brilliant curling free-kick from left-back Danny Andrew after 12 minutes.
The Chairboys hit back just before the interval with an individual effort from Stuart Beavon and Gareth Ainsworth secured the points with a bullet header from a Chris Westwood cross in the 58th minute to cap a stirring fight back from the promotion hopefuls.
"I thought we were excellent, as good as we were Tuesday when we beat Bradford. We didn't take our chances but I'll never criticise anyone for that, as long as we're creating them that's not a problem," said Yates.
"I'd like to see how close they were but it didn't go for us, we just went a little soft for a 10 minute period in the second half but to be fair to them they stepped it up.
"We've been mugged off by a good solid, experienced team. They've got good players, a good spirit and they've done a job on us.
Source: PA
Source: PA