Advanced Url Beautification

How would one go about turning

/manage/crm/match/default/view/34 Into /manage/crm/match/34 ( default action view )
/manage/crm/match/default/action/34 Into /manage/crm/match/34/action

the same for any controller

/manage/crm/match/controller/view/34 Into /manage/crm/match/controller/34 ( default action view )
/manage/crm/match/controller/action/34 Into /manage/crm/match/controller/34/action

I really wish there were a default params thing for loose matching.

Any thoughts?