VERONA, Italy , May 26 (Reuters) - Frosinone were relegated from Serie A after they lost 1-0 at home to Udinese and Empoli scored a stoppage-time winner through M'Baye Niang to prevail 2-1 against visiting AS Roma on Sunday. Relegation-threatened Udinese beat Frosinone with a late Keinan Davis goal, sealing their opponents' fate, as Empoli maintained their top-flight status thanks to halftime substitute Niang with their fans pouring onto the pitch at the end. Distraught Frosinone finished a point behind Empoli and joined bottom side Salernitana , who were consigned to the drop last month with a 3-0 loss at Frosinone, and Sassuolo , whose fate was decided last weekend after a 2-0 defeat by Cagliari