Which Baroque artists painting do the characters seem to be moving outside picture frame join action beyond its borders?

The Baroque artist whose paintings often feature characters seeming to move outside the picture frame and join action beyond its borders is Caravaggio.

Caravaggio was known for his dramatic use of light and shadow (chiaroscuro), which created a sense of depth and realism. He also placed his figures close to the foreground, often seeming to break through the picture plane.

Here are some examples:

* The Calling of Saint Matthew: Matthew seems to step out of the painting, almost reaching towards the viewer.

* The Sacrifice of Isaac: The figures are positioned close to the foreground, giving the illusion of a scene happening right in front of the viewer.

* The Musicians: The musicians appear to be playing directly for the viewer, breaking the fourth wall.

This use of space and composition created a powerful sense of immediacy and involvement for the viewer, as if they were directly witnessing the depicted event.