First,
here's a fairly bare-bones google doc I made breaking down scoring for the game (just create a copy to use it yourself; comment any issues you find please!). A couple small things about that-- auto scoring is worth 42-3 or 22-3 points because the block is scored after teleop too. I'll also be editing this to make it more intuitive to use and to comply with any rule changes that are introduced, as well as adding estimate points for different "archetypes" of robots.
Based on that spreadsheet (which hopefully isn't too far off of reality), here's my general predictions:
1: A single robot should be able to score 20-40 points in autonomous mode fairly consistently (plus another 20 if they can do IR). This of course assumes that the robot is designed to quickly complete the autonomous mode, which most likely won't be the case for teams with pincer-arms.
2: Flag raising is easy. Based on experiments with the field at our kickoff event, it takes about 17 turns to raise the flag all the way. If you can manage 2 turns a second, it's less than 10 seconds for raising the flag.
3: Balance bonus is awesome. It provides an opportunity for teams to really jump up from behind.
4: Balancing is potentially worth more than hanging and flag raising combined.
5: Scoring on the lower level looks surprisingly profitable-- those count as block points too if it's balanced!
6: Defence will be difficult. Pendulums are almost as bad as pyramids from Ultimate Ascent, and the flag is even more restrictive.
Those are my thoughts right now. I'm probably going to be thinking though mechanisms and how to play the game all night, so I might add to this.