I created a simple Test PDF using Scribus and opened it with the Viewer RI, which caused the error message dialog:
"ICEsoft ICEpdf - Exception" "ICEpdf cold not open the specified file ..."
Opening the file just with the ViewerComponentExample works.

Stack Trace with enabled debug logging:

FINE: Error opening document.
java.lang.StringIndexOutOfBoundsException: String index out of range: 0
at java.lang.AbstractStringBuilder.charAt(AbstractStringBuilder.java:174)
at java.lang.StringBuilder.charAt(StringBuilder.java:55)
at org.icepdf.core.pobjects.HexStringObject.hexToString(Unknown Source)
at org.icepdf.core.pobjects.HexStringObject.getLiteralString(Unknown Source)
at org.icepdf.core.pobjects.HexStringObject.getDecryptedLiteralString(Unknown Source)
at org.icepdf.core.pobjects.PInfo.getTitle(Unknown Source)
at icepdf.dk.g(Unknown Source)
at icepdf.dk.a(Unknown Source)
at icepdf.dm.d(Unknown Source)
at icepdf.dm.b(Unknown Source)
at icepdf.dm.a(Unknown Source)
at icepdf.dm.i(Unknown Source)
at icepdf.bo.run(Unknown Source)
at java.awt.event.InvocationEvent.dispatch(InvocationEvent.java:209)
at java.awt.EventQueue.dispatchEvent(EventQueue.java:597)
at java.awt.EventDispatchThread.pumpOneEventForFilters(EventDispatchThread.java:269)
at java.awt.EventDispatchThread.pumpEventsForFilter(EventDispatchThread.java:184)
at java.awt.EventDispatchThread.pumpEventsForHierarchy(EventDispatchThread.java:174)
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:169)
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:161)
at java.awt.EventDispatchThread.run(EventDispatchThread.java:122)

The "PInfo.getTitle()" part got me to play with the "Document Properties" in Scribus and as expected,
setting the "Document Title" property in Scribus fixes the problem. I'm not sure if this is really a bug
or if the document without title doe's not match the PDF Reference Specification.