The issue with coming up with your own innovative ideas is that they really must be your own. Although seeing as my team was brainstorming through a similar thing recently, I'll ad 2cents..
We spend a lot of time researching other teams (such as the ones listed above). We concentrated on the Hall of Fame winners as well as the people in our area. Often, looking at other peoples methods sparks ideas, leading the famous "Well what if we did this?" Also look into how other nonFIRST organizations impact your community. For example, most of the band crews and dance groups in our region march in Mardi Gras parades. We made a connections with the right people and now are regular marchers ourselves. Take inspiration from everywhere around you. What makes you say wow, thats cool? Or even, well well..thats, er, different.
At every event, we strive to meet as many people and build partnerships that might lead us to the next event. There must always be a fine balance between being willing to take on something new and exciting and knowing what your team can handle.
For our previous RCA submissions see -
http://team1912.com/documents.html
I know for this year the judges called out our visit to the Boy Scouts expo, allowing students to earn a varsity letter in robotics, our continued support of local teams, founding and mentoring FLL and Jr. FLL teams, creative programs, quantity of community events and the newspaper column.