Window 7 is indeed able to read the UDF 2.01 file system created with format-udf (mkudffs from udftools 1.3).
Whenever I run CHKDSK on Windows 7, however, it "finds" some errors and "fixes" them:

The next time I run CHKDSK against the same file system, it finds the very same issues.
I understand this most probably can't be easily fixed, but probably the issue should be mentioned in the documentation/release notes.