DataMapper doesn’t do form validation at all.
It does pre-save validation of object properties. And yes, some of the validation rules are borrowed from the form validation library. But that doesn’t mean it is the same as form validation.
If you want to populate your forms from DataMapper objects, just use the object properties directly. If you need default values for new objects, add a method to your model that sets them when not exists(), and call that method before you load the view. Alternatively, you can call it from __construct() (and probably clear() as well) to do it automatically.