Definition of crossing:
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an act performed by a ROBOT, such that it starts free of contact with an opponent DEFENSE and completely in the NEUTRAL ZONE, traverses the DEFENSE such that its BUMPERS go fully between the adjacent SHIELDS/GUARDRAIL, and ends up fully contained by the opponent’s COURTYARD
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So, as far as I can see, except for the category C defenses (unless another bot is hold the door open for you), you can cross, back up, then re-cross to damage a defense.