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$location.path() in AngularJS already returns a decoded string (see how $$path is set), but UrlMatcher.prototype.exec, which takes path from $location.path() calls decodeURIComponent again on decoded string, which results in an error or possibly an incorrect string if the decoded string itself contains the escape character.
Also, I don't know if this is compensating for the other bug, but in UrlMatcher.prototype.format, encodeURIComponent is missing for the path part of the URL - should be result += encodeURIComponent(value).