Think of the URL as part of the User Interface. REST offers conventions that make it easy to guess the URL of what you are looking for, just as you would guess where to click/navigate to get it.
I realize this only covers one aspect of REST, but I like it because I think the idea of an address as a resource which has a certain appearance (its URL) is quite powerful.
edit: I realize that rest could just as easily use meaningless identifiers, but it is often the case that meaningful identifiers are used such that the user can GET desired items by guessing the URL.