I'm struggling with this issue myself and it seems like you will definitely need to write some server-side code to pass through the clean routes you'd like to be able to access directly.
I personally don't really see the value of having a clean HTML5 url (w/o a #) if the link 404s when you click it...
As I understand it, a regular expression checks for routes that need to be handled by the main Angular app (i.e. guide, api, tutorial but not css, image, or other static files). Those routes are rewritten in node to /index.html which serves the main angular app.
In summary, get your server to identify all your routes / deep-links (hopefully using a regex) and forward them cleanly (preserving the URL) to index.html which can read the url and render the correct partial.