Custom URL Parameter in gRPC-Gateway Transcoding

Question

for example, I have this kind of proto definition:

service Greeter {
  rpc SayHello (HelloRequest) returns (HelloReply) {
    option (google.api.http) = {
        get: "/hello"
      };
  }
}

message HelloRequest {
  repeated int32 ids = 1;
  repeated string categories = 2;
}

message HelloReply {
  string message = 1;
}

when I use gRPC-gateway, based on transcoding above, you can request with this kind of query

localhost:8080/hello?ids=1&ids=2&categories=food&categories=drink

Is there any way to remap the url query parameters?

for example to become:

localhost:8080/hello?ids[]=1&ids[]=2

Can't find any on the documentation

Thanks.