There probably is some perfect way to load everything in one fell swoop but since it sounds like you need a quick-and-dirty solution, you could try something along the lines of:
library(stringi)
df <- read.table(my.table, header=FALSE, sep=']', stringsAsFactors = FALSE)
vals <- stri_split_coll(df$V2, pattern=',', simplify=TRUE, omit_empty = TRUE)
vals <- data.frame(apply(vals, 2, as.numeric))
labels <- stri_replace(df$V1, '', fixed = '[')
rownames(vals) <- labels
Does this get the job done for you?
[Note: If your data has a header then just add the argument "skip=1" to read.table
and either add the columns manually or run the function again (with "nrows=1"), etc.]