FA Cup scores, results, schedule: Manchester City avoid embarrassing defeat with late comeback

The FA Cup fourth round has been filled with upsets, and we nearly got a colossal one. Manchester City were trailing fourth-division side Cheltenham only to score three after the 80th minute to escape with a 3-1 win. Arsenal, the reigning cup winners, were bounced from the cup with a 1-0 loss against Southampton.

Meanwhile Chelsea and Tottenham will be looking to bring their recent troubles to an end against Championship opponents Luton Town and Wycombe Wanderers. On Sunday, Liverpool travel to Old Trafford to face Manchester United.

Here's what to know:

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Times U.S./Eastern -- all matches can be streamed on ESPN+

Sunday, Jan. 24

Chelsea vs. Luton Town, 7 a.m.

Brentford vs. Leicester City, 9:30 a.m.

Fulham vs. Burnley, 9:30 a.m.

Manchester United vs. Liverpool, 12 a.m.

Everton vs. Sheffield Wednesday, 3 p.m.

City come alive late: Man. City looked headed for an explainable defeat on Saturday until Phil Foden and Gabriel Jesus came to play late. City had 20 shots on the day, nine on frame yet couldn't put away numerous good chances until it mattered most. After Foden's comfortable finish in the 81st minute, Gabriel Jesus produced an absolutely sensational goal. Watch as the Brazilian settles the ball from Fernandinho and blasts home the dramatic winner in the 84th minute:

Ferran Torres added a goal in injury time to cement the result as City advanced.

Wolves attack continues to stutter: Prior to Friday's game the only team this season who had held Wolves to just a single shot on target were Manchester City but Chorley added their name to that list with an outstanding display in defeat. Unfortunately for the sixth tier side the one time their visitors managed to hit the target it was a stunning strike from Vitinha that won the day for Nuno Espirito Santo's side.

However the Wolves boss will continue to worry about his side's inability to pose any great threat to any defence without Raul Jimenez, so often at Victory Park they advanced to the edge of the box only to stall completely. Were it not for the excellent Willy Boly and Conor Coady at the back Chorley's pressure might have been too much with Andy Halls and the dangerous Elliot Newby drawing good saves from John Ruddy in the visiting goal.

Gunners lay an egg with Pepe struggling again: Both Arsenal and Southampton created two shots on goal in their 90-minute on battle Saturday, but neither managed to find the net on their own. It took an own goal from Arsenal's Gabriel to send Southampton through to the next round while Arsenal continue to lack consistency. The cup holders were bounced at a time where Arsenal weren't playing all that bad. Mikel Arteta's team had won five of their last six games in all competitions, but a weak starting lineup resulted in a weak result. Alexandre Lacazette and Buyako Saka came off the bench but couldn't impact the game enough, as Arsenal crashed out much earlier than expected.