Yes, Mozilla Rhino is all you need. It's an optional dependency of scalate-core, that's why it's not pulled into the classpath as a transitive dependecy by default.
IMO, it woul be better to move CoffeeScript filter into it's own module, which would then have a hard (non-optional) dependency on Rhino (less surprise factor for users) and it would also make scalate-core jar a tiny bit smaller.
Regarding less filter: it's hosted in a separate module scalate-less, but it's broken at the moment. I'll have some fixes and enhancements for it sitting on a private branch. If you are interested in testing it I can clean up & publish these changes later this week.
Sure, there is a way to contribute to the documentation. You need to fork Scalate repository on github, clone it to your machine and look into scalate-website module. It's a bunch of markdown files that you can edit, commit, push your changes to github and then submit pull requests.
Cheers,
Rafał