David Moyes and his side of internationals head to the Cotswolds to face a team fourth in League Two in front of a 7,000 sell-out crowd and the ESPN cameras in what is the first-ever competitive senior meeting between the clubs.
And Yates, whose Robins have one of the best home records in the division, is not content with thoughts of a few good memories and some positive exposure for the club.
"We won't be going out there saying 'let's just enjoy it and let's take a 2-0 defeat' and be happy with that," he said.
"We will go out there having planned and prepared properly and make sure the players do all they can to make sure we give ourselves a chance.
"It is only 11 v 11 and yes, they are Premier League players, but you never know.
"After 60 minutes if we are 3-0 down we might not believe quite so much but right at this moment in time we have to believe we can do something.
"The cup has got a tradition of shocks, so why not? We want to cause a shock and we know that is a big task. But we know we have the capabilities to do it."