Figured it out.
Need to use this Sequel plugin: http://sequel.rubyforge.org/rdoc-plugins/classes/Sequel/Plugins/NestedAttributes.html
plugin :nested_attributes
nested_attributes :children_models
Then just do something like this:
model.children_models.each do |child_model|
semantic_fields_for :children_models, child_model do |f|
f.input ...
end
end
There's a few quirks as to how Sequel interacts with forms, but most can be figured out from reading.