From the October Google Webmaster Chat Q &A:

Anonymous: In addition to a XML sitemap, does it make any sense to have also an HTML sitemap on the same website? Does HTML sitemap helps improve the rating?

JohnMu: A HTML sitemap file can help search engines, especially those that don't use XML Sitemap files. Also, the 404 widget in Webmaster Tools (which you can place on your 404 pages) will use "/sitemap.htm" and similar files to help users to find the content they're looking for. So yes, I would recommend making HTML sitemap files, however I'd focus on the user and not the search engines.

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