Let $S_k$ be a set with $k$ elements. Then $S_k$ has $2^k$ subsets. So the formula $2^{n+1}-1 = \sum_{k=0}^n 2^k$ can be translated to $$\text{number of *nonempty* subsets of $S_{n+1}$} = \sum_{k=0}^n\text{number of subsets of $S_{k}$}.$$ Is there a combinatorial way of seeing that this formula must hold?
(I'm not looking for non-combinatorial proofs like $(2-1)\sum_{k=0}^n 2^k = 2^{n+1}-1$)