Have you tried publishing to a "Form Library" instead of a "Document Library"? According to this blog, most users who have seen this error also encountered several other problems.
Here are the steps to make sure your library is based on the Form content type:
1. Open the Form Library.
2. Go to Settings - > Form Library Settings.
3. Click Advance settings under General Settings.
4. Click yes radio for "Allow management of content types".
5. Click Ok button at the bottom of the page.
6. Now under Content Types table on Setting page you should see Form.