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Statutory requirements for the VWP do not include a lack of visa refusals (see 8 USC 1187). There is a requirement not to have violated the terms of a prior admission under the VWP, but nothing about visas.
Since the requirements do include ESTA authorization, you the answer could be "yes" depending on the ESTA algorithm. But the algorithm that handles an affirmative response to the visa refusal question is not public, so, beyond the statutory provisions above, it's not possible to answer this question more definitively.