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Its standard yaml, so you can nest dictonaries and arrays inside of each other; If you have an unknown number of known instances (hardware configs), I guess an array of dictonaries is what you are looking for, e. g.:

<rosparam param="hardware"> [ { name: 'hw1', param1: 1.3, param2: false }, { name: 'hw2', param1: 1.7, param2: true }, { name: 'hw3', param1: -1.3, param2: true } ] </rosparam>

Now you can iterate the array and the read out the params of interest for each hardware....

Its standard yaml, so you can nest dictonaries and arrays inside of each other; If you have an unknown number of known instances (hardware configs), I guess an array of dictonaries is what you are looking for, e. g.:

<rosparam param="hardware">
    [ { name: 'hw1', param1: 1.3, param2: false }, { name: 'hw2', param1: 1.7, param2: true  }, { name: 'hw3', param1: -1.3, param2: true  } ]
</rosparam>
</rosparam>