I am also experiencing this error on a Raspberry Pi 4B 4Gb RAM and
Ubuntu Server 20.04.02

I experienced it both with writing the image from Raspberry Pi Imager as
well as writing the image in the same way as Robert did.

When booting I see the same "Failed to load '//uboot/ubuntu/boot.sel'"
after seeing "Found U-Boot script /boot.scr".

Additionally while the Pi attempts to boot I see the following:
[FAILED] Failed to start Command from Kernel Command Line.
See 'systemctl status kernel-command-line.service' for details
[DEPEND] Dependency failed for Command from Kernel Command Line.

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https://bugs.launchpad.net/bugs/1914878

Title:
  At boot on Pi4 with 20.04.02 i get: Failed to load
  '//uboot/ubuntu/boot.sel'

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