$radkyContainer = $form->addContainer('radky');
foreach ($radky as $radek) {
    $container = $radkyContainer->addContainer($radek->id);
    $container->addText('name');
    // ...

    $container->setDefaults((array)$radek);
}

# zpracovani...

foreach ($form['radky'] as $radek) {
    $radekValues = $radek->values;
}