named,
Xaignar has committed a patch that improves handling of invalidated UDP sockets. But I must agree with him in that it is probably not what causes your original problem.
I don't know exactly how this port scanner works (btw, I will check, thanks for the link!), but I imagine that if he could pass a few UDP packets through the router, then it considers it forwarding.
I have had a problem here with a WRT54G model 5 router that was driving me crazy, made me call the ISP support and look like a fool. It simply could not handle the reasonable intense ( ?, over the mean to be fair!) UDP traffic, and was dropping some UDP packets. When aMule was not running, I got near 100% success. When aMule was running, it entered an "UDP Dropping Mode (TM)" and even after stoping aMule it would behave badly. Turning the router off and on was the only way to make it work again. I have discovered it the hardest way, by faults in other UDP applications I was running.
I soon found out that model 5 WRT54G was a totally different hardware/software than it's great successor, model 4. LinkSys, now under Cisco has fooled me by making me believe it was a minor improvement by bumping the model number, when in fact it had less memory than before and no longer used linux. With such a big changes, I would never consider it a sucessor. It was a new product and far from beeing mature. I have returned it to my local dealer and changed it by an equivalent 3Com. And lived happy ever after.

Sorry for the long post, but to resume what I think, do not discard the possibility that your router is dropping UDP traffic at random.
Please, test tomorrow svn and report any changes. Thanks again for your support and patience.