Luke Howell's 56th minute strike proved to be the only goal and ended an impressive five-game unbeaten run for the Robins.
"I'm disappointed because I really thought we deserved something out of the game," reflected Yates.
"We could have done better for their goal but then we had enough chances to get something. I thought we played well in patches but we also needed a bit more quality.
"It was always going to be hard coming here because they're battling hard, but we didn't do the basics well enough."