Rohan Ince bagged a terrific opener for Brighton at Swindon.
Louis Thompson equalised early in the second half and the score remained 1-1 until extra-time.
Adrián Colunga and a brace of penalties from Jake Forster-Caskey won the match for Brighton.
Swindon had pulled it back to 3-2 with a goal from Yaser Kasim.
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