Well obviously URLs are for people because raw IP addresses are unsuitable, but that doesn't mean that textual URLs as they exist today are our best option. Even well-designed URLs are too complicated. "https://news.ycombinator.com/item?id=5498198 is mostly devoid of meaning even to me. I can tell that that URL is referencing a discussion on Hacker News, but "Hacker News" or the title of the article are not present in the URL.

Hierarchical URLs betray the underlying model of the internet as a series of interrelated documents. People don't care about understanding the layout of files on a web server; they just want to open Facebook, or their email, or perform a search. Nobody types "http://www.facebook.com into their browser. They either click a bookmark or type "facebook" into the search or URL bar. What happens next is up to the browser.

The best solution would conform to the already existing mental model that people have. They don't think of a website as a bunch of documents on a web server (despite the shared vocabulary with printed media - words like "page" and "bookmark"). Their mental model is probably something like buildings on a city block. You can pick one to go into, and when you're inside you can do things and learn things that are unique to that building. Rooms are connected by hallways and doors. There are windows where you can see outside or into other buildings. You can bring things with you into the building and take things out when you leave. To get back to a room in a building that you've been in previously, you can either go back to the front door and follow the path you took originally to get to the room, or you can "bookmark the page", which is like a shortcut directly that room.