[KevinG]

3.1.3 says that "A DEFENSE is CROSSED by a ROBOT when that ROBOT starts free of contact with the 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." If a robot from the blue alliance goes from the neutral zone across a blue defense into the blue courtyard, and then later on enters the red courtyard, who gets the points for crossing a defense and is the defense damaged?

As far as I can tell once the blue robot enters the red courtyard the defenses would indeed be considered crossed, the points would go to the blue alliance, and the defense would be damaged. I suspect this is an oversight.