I concur that you should be OK. "Beyond" means outside the bounds.
This is truly a unique choice of words:
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hard BUMPER parts (e.g. plywood, fasteners, etc) may not extend more than 1 in. beyond the end of the FRAME PERIMETER
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The FRAME PERIMETER, being defined as a polygon, has no end:
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FRAME PERIMETER: the polygon defined by the outer-most set of exterior vertices on the ROBOT (without the BUMPERS attached) that are within the BUMPER ZONE. To determine the FRAME PERIMETER, wrap a piece of string around the ROBOT at the level of the BUMPER ZONE - the string describes this polygon.
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If you look at the pictures, what they are trying to convey is that hard parts can't extend more than one inch beyond the end of the corners of the FRAME PERIMETER.
There are two corners they mark OK, with ones with the butt joint and the mitered joint. Actually the outside point of the plywood would be 1.06" from the nearest point of the FRAME PERIMETER, so that fails if they left out the word "end" in R24B.