I have seen many robots push cubes from behind the switch out into a line. When doing these actions, I have not seen them get penalties, even though the rules say that herding, prolonged contact is not allowed with multiple cubes. Pushing them out can help since they are harder for the opponent to reach and are closer for you. Would pushing them count as herding or just “breaking up a pile” / short contact.
At VAPOR this weekend they were escalating this up to red cards, so hopefully our event helped balance out the average.
In this years game, i have seen that the refs are focusing a lot on scale violations and less on other field infractions. I hope this changes, but at a comp i went to there were 3 red cards due to scale violations and the scale was the main source of penalty points.