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maybe in some cases really bad HTML can pull through, our sheer cunning plans :)
But I would be inclined to agree that validating HTML will be better for robots, since they are effectively stripped down browsers trying to interpret the page
Not only is it the clean html code, but the CSS and Absolute Positioning are having a dramatic impact on initial results. Add in all the other areas that are optimized properly and viola, the winning formula has been achieved, to a degree much higher than before and less time consuming!
If the site validates W3C, you can pretty much be assured that the spider will traverse through the content more efficiently than it would if there are errors. Some errors are bypassed because they are so common, others like the one tedster brings up cannot be bypassed and lead to severe consequences and possible months of headache trying to figure what the heck is going on.