Standard way for Rails to parse array query params without using brackets in the URL?

I want a resource URI to look like this:

https://domain.tld/resource?param=foo&param=bar&param=baz

But Rails requires array query params to use the square bracket notation. Before URL escaping, the Rails equivalent of the above URI looks like this:

https://domain.tld/resource?param[]=foo&param[]=bar&param[]=baz

I can manually wrangle request.url inside of my controller, but I'd rather not do this ad-hoc if I can help it.Is there a standard way to support the first style of URI in Rails?