This is more a clarification than an answer! Yes, the clue is in the error message:
[hi: command not found
which shows you that your "hi" has been concatenated to the "[".
Unlike in more traditional programming languages, in Bash, "[" is a command just like the more obvious "ls", etc. - it's not treated specially just because it's a symbol, hence the "[" and the (substituted) "$s1" which are immediately next to each other in your question, are joined (as is correct for Bash), and it then tries to find a command in that position: [hi - which is unknown to Bash.
In C and some other languages, the "[" would be seen as a different "character class" and would be disjoint from the following "hi".
Hence you require a space after the opening "[".