Should be:
$form = new Form([
'email' => [
'rules' => ['required', 'email'],
'message' => 'Please enter a valid email address',
],
'name' => [],
'objects' => [],
'message' => [
'rules' => ['required'],
'message' => 'Please enter a message',
],
]);
For validation, I’m afraid you have to implement your own validator, as there is none in Kirby that accepts an array as value.