You are correct that square brackets are used for interpolation. Also, you can have any kind of expression. And you can use : followed by a .NET formatting code:
print '[person.lastName], [person.firstName]'
print '[amount:N2]'
If you search for "C# string formatting" or such you'll find info on the formatting codes.
ns stands for "no substitution". It still respects \n \r \t etc. as meaning newline, carriage return, tab etc.
r stands for "raw" which is like Python's r'aoeu' and C#'s @"aoeu". All characters are literal including backslashes and brackets. Most often used for regular expressions where backslashes are common.
I've wanted \[ to work for awhile, but just haven't gotten to it. I also see that a better error message could be given to guide people.