Improvisation or noodling gets a bad rep because it defies tradtional textbook music theory, and comes from a bout of pure and unadulterated expression. Music traditionally even in so called improvisational music like hard-bop can be very practiced and methodical. Whereas so called noodling dosen't come from practice but more from a inner voice that dosent rely on the tricks of the trade and comes straight from what the artist is feeling at that moment creating his purest form of art. Music purists always have a formula and of course those who bend formula are shunned and not taken seriously, until the next generation of music purists praise the once frowned upon art form, and the cycle repeats itself.
tl;dr
Pure expression isn't accepted as a norm even yet, for the better or worse who knows.
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