Ubuntu 19.10, Ubuntu 20.04, and Linux Mint 20 by default use compress=lz4 in the /etc/initramfs-tools/initramfs.conf which causes the error. The error can be seen during boot, via the Logs application and by executing the command journalctl -p 3 -xb in the terminal. The issue has been reported as a bug in launchpad in this link: initramfs unpacking failed. A way to 'fix' the issue for now is to set compress=gzip instead of the default compress=lz4 in the /etc/initramfs-tools/initramfs.conf as provided by user vmc (vmclark) in comment 11 in the bug report and then executing sudo update-initramfs -u in the terminal. After reboot the error is gone.