Pentadactyl to Vimperator is just like from vi to vim, there are so many improvements and bug fixes.
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Install Pentadactyl in firefox
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Clone Dot Pentadactyl config files under your home directory
$ git clone git://github.com/linsong/dot_pentadactyl.git .pentadactyl
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Link rc file
$ cd ~ $ ln -s ~/.pentadactyl/_pentadactylrc .pentadactylrc
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Restart firefox and enjoy!
Suggest you run ':help' and have a brief look on features of Pentadactyl, especially marks, hints.