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Spectators aren't against the boundaries of the field (at least not at any FIRST event I've been to). There has always been an area piped and draped off as a buffer zone between spectators and the field. The California Robot Games hasn't had this buffer zone because of lack of space, but that was a WRRF (Western Region Robotics Forum) sponsored event.
In 2001 we, also, stuck out over the field border, but we were warned by the referees to retract our telescoping arm so that it wasn't hanging over the opposite side players' station.
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