Changing url of exposed filter
A colleague of mine created a module called path data a while back. His intentition was to solve this very problem. Unfortunately it has turned out that it conflicts with regular path aliases, so it will work on a site like drupal.org that doesn't use aliases, but will break links on a path-alias using site.

Currently, it's my belief that the only generic way to solve this issue is either manipulating the URLs at the httpd layer, or using hook_url_inbound_alter and hook_url_outbound_alter. You can read a bit more about the mentioned hooks at this question.

However, if I were to give this another shoot myself, I would attempt a Views specific solution instead, as this problem is common enough that it could be justified to have a module for this.

In hook_views_pre_build, one could take data from a url like "members/valuea/valueb", push these values into $_GET['q'], let views build it's query seeing the get arguments "in the url", then possibly remove them again in hook_views_post_build.