I used to think it wasnt needed, but if you run a simple heat flow calculation with Q =u * (delta T) where the U-factor is 1/R-value
R values, lets say 13 for wall and 1 for concrete (that's from looking it up). Say 60F inside, 20F outside, and 50F in the ground. Substitute your own numbers and run it again.
For a wall you'd get Qwall = 1/13 (60-20) = 40/13 = 3.07
For a floor you'd get Qfloor = 1/1 (60-50) = 10/1 = 10.
This is for 1 square foot of area of each, obviously there are more paths with wall area, but you can see how much more conductive the floor is. The simplicity of this doesn't account for hot air rising, convection, etc, but its definitely something to consider if its a factor of 3 difference.
If I could have done my build over I would have done the under floor insulation. I didn't and thus bought better boots....