In /boot/initrd.img-3.0.0-8-generic/scripts/init-bottom/udev I see these
two lines:

# Stop udevd, we'll miss a few events while we run init, but we catch up
udevadm control --exit

Just a wild speculation, because I haven't yet digged into the
interactions between kernel and udevd, but the semaphore decrementation
event might be lost when transitioning from the initrd-udevd to the
rootfs-udevd.

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https://bugs.launchpad.net/bugs/802626

Title:
  boot hangs at initrd

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