Try out Aura Form

form.php

<?php
$path   = dirname(__DIR__) . '/aurasystem/package';
$system = dirname(__DIR__) . '/aurasystem';

$loader = require $path . '/Aura.Autoload/scripts/instance.php';
$di = require $path . '/Aura.Di/scripts/instance.php';

$configs = array('Aura.Filter', 'Aura.Input', 'Aura.View', 'Aura.Intl', 'Aura.Cli');
foreach ($configs as $config) {
    require $path . '/' . $config . '/config/default.php';
}
$loader->add('Aura\Framework\\', $path . '/Aura.Framework/src');
$loader->register();

$di->setter['Aura\Framework\Input\Form']['setFilter'] = $di->lazyNew('Aura\Filter\RuleCollection');
$di->params['Aura\Intl\TranslatorLocator']['factory'] = $di->lazyNew('Aura\Framework\Intl\TranslatorFactory');

$form = $di->newInstance('Aura\Framework\Input\Form');

$data = [
    'hello' => 'World',
    'bar' => [
        'baz' => 'bar.baz_value',
        'dib' => 'bar.dib_value',
    ],
    'zim' => [
        'gir' => [
            'irk' => 'zim.gir.irk_value'
        ],
    ],
    'doom' => 'doom_value', // should not show up
];

$form->setField('hello');
$form->setField('bar[baz]');
$form->setField('bar[dib]');
$form->setField('zim[gir][irk]');
$form->setValues($data);
var_dump($form->getValues());