This plugin will help in creating SEO friendly URL for your entities.  and allows owner to customise also.

In case the entity, (custom,User,Group) is very important for the site.then you can create direct handler.

so that , the entities can be directly refered.

For example 

http://<yoursite>/sachin instead of  http://<yoursite>/profile/sachin

http://<yoursite>/mugroup instead of  http://<yoursite>/group/view/mgroup

http://<yoursite>/myobject instead of  http://<yoursite>/mysubtype/view/myobject