OK, a little more information. Tried reading the disks in a third computer, an iMac G4, same OS, same Retrospect, and the disks could be read on this machine. On the iMac G4 the optical drive is a Pioneer DVD-RW DVR-104. The two drives that cannot read the disks are, on my Powerbook, a Matshita DVD-R UJ-816, and on the iMac G5, a Matshita DVD-R UJ-845.
So is Retrospect so finicky that drives that are listed as supported really don't fully work? Or am I doing something wrong?