Her family says Monday that Vaino Spencer died in her sleep at her Los Angeles home on Oct. 25.
Spencer served 46 years on the bench. She was appointed to Los Angeles municipal court in 1961 and served on the Superior Court and state appeals court before retiring in 2007.
Spencer's niece, Fatimah Gilliam, describes Spencer as "a trailblazer and a self-made woman in an era when there were few opportunities for women and people of color."
In a statement, California Chief Justice Tani Cantil-Sakauye says Spencer was a pioneer for women and minorities on the bench statewide and nationally.
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