We are currently looking into this issue, which is mentioned in Technote http://support.veritas.com/docs/347199 . At this time the workaround mentioned in the Technote as well as mentioned above by OPG should allow for a successful restore.
Are you creating the IDR boot CD for a 'Windows 2008 R2' system from a 'Windows 2008 R2' media server ? Try creating the IDR boot CD from a different media server ( which is not running Windows 2008 R2 OS).
You do not have to create an Intelligent Disaster Recovery(IDR) boot CD for every server. You just have to create an IDR CD for each operating system. Meaning out of your 70 servers, if 15 of them are running 'Windows 2003' and 35 of them are running...
Please review the Technote below that discusses the best practices and changes in the VMWare Agent for Backup Exec 2010
http://support.veritas.com/docs/340836