There's a lightweight ORM called GStorm here which I've had on my list of things to investigate which has basically no dependencies, but doesn't handle related domain objects
And a library to leverage Grails GORM here (which obviously pulls GORM out of Grails so has quite a few dependencies including Hibernate)
Other than that (and probably some other examples I've missed), there's nothing I know of to do what you're trying to do. I guess you'd have to write your own (you could switch between the INSERT or UPDATE depending on whether you pass a Primary Key -- assuming primary keys are auto-generated by the DB)