Have a look at jOOQ if you haven't seen it yet. There is a pre-compilation stage which generates DAO for you and they can then be used with static type guarantees.
I also don't like code generation. I'm not closed-minded to it, just don't like it if I can avoid it.
It doesn't integrate with the IDE and I am not too fond of it either.
But if you want ORM as a library in Java, I don't think there is any other option possible. Java has no meta-programming support, and annotations are going to be processed at run-time which is even worse than pre-compilation.
Too bad. Once you have code generation built in your development process (e.g. combining things with Flyway: http://blog.jooq.org/2014/06/25/flyway-and-jooq-for-unbeatab...), I'm sure you'll get a hang of how things work with jOOQ, and most importantly, you'll get your errors bright and red when you type (or when you build)