Is it rt2860 specific ?
I have the same symptoms for rt2500usb with lucid beta 2 64 bits live cd and 
fresh install.
My router is set to WPA TKIP+AES (under Windows only TKIP seems to be working) 
and I can see the scan list (neighbor and me), but can't connect.
I tried with a static IP ; it seems to be connected, but I can't ping the 
gateway. Bad network...

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[lucid] rt2860 frequently fails to connect to mixed mode WPA/WPA2 secured 
wireless networks
https://bugs.launchpad.net/bugs/496093
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