Ran into this issue myself.
I was able to publish forms from other computers but not mine. Some solutions that have been published involve turning off the Systems Event Notifications service but this didn't work for me. The solution I found came in a comment although it doesn't seem to work for everyone. I didn't need to set the Server Cache count to 0 but the rest worked: http://serena-yeoh.blogspot.com/2006/08/infopathformurlnotvalid.html
Piotr L. said...
I was one of the people for whom disabling SANS did not make the error go away. However, having battled the problem and searched the Internet for clues (with little results) I decided to do a little troubleshooting of my own. I won't get into details of how I got at the solution, but here is what immediately worked for me , and hopefully will work for other people.
1. Open regedit.exe, go to "HKEY_CURRENT_USER\Software\Microsoft\Office\12.0\Common\Internet\Server Cache"
2. Delete all subkeys of "Server Cache" key, they are in form of http://xxxxxxx
3. Update "Count" value of "Server Cache", setting it to 0.
4. Close regedit.
5. Close and reopen InfoPath and try publishing the form now.