Hi Vikram.
This error states that IDOC data is not correct, so validate the data to fix the issue.
--> Check if you are receiving correct data. try to test the mapping in ESR test tab..
If it is successful, then it means that the data which created error contains some characters which could not be parsed.
--> Check if all the mandatory fields are mapped or not?
--> Try to re-import the IDOC / Metadata..
Regards
Bhargava Krishna