I get this too.

Concurrency is set to 'none'.

# ls -l /etc/rc?.d/*dbus
/etc/rc1.d/K20dbus
/etc/rc2.d/S12dbus 
/etc/rc3.d/S12dbus
/etc/rc4.d/S12dbus
/etc/rc5.d/S12dbus

# ls -l /etc/rc?.d/*hal
/etc/rc1.d/K16hal
/etc/rc2.d/S13hal
/etc/rc3.d/S12hal
/etc/rc4.d/S12hal
/etc/rc5.d/S12hal

#ls -l /etc/rc?.d/*dhcdbd
/etc/rc0.d/K16dhcdbd
/etc/rc1.d/S24dhcdbd
/etc/rc2.d/S24dhcdbd
/etc/rc3.d/S24dhcdbd
/etc/rc4.d/S24dhcdbd
/etc/rc5.d/S24dhcdbd
/etc/rc6.d/K16dhcdbd

By running the following commands, I was able to then start GDM and log
in without getting the error:

/etc/init.d/dbus start
/etc/init.d/dhcdbd start
/etc/init.d/hal start

Note that if you try starting hal before dhcdbd, hal will not start
properly.  Also, after starting dhcdbd, you will not be given another
prompt.  Rather, you will just be given a blank line.  You can still
start hal.  Also, after starting hal, there is constant output (You are
not given another command prompt).  You can still start gdm like you
normally would from the command line.

Is there any way to start these things automatically, so I don't have to
boot into the command line every time?

-- 
Failed to initalize HAL.
https://bugs.launchpad.net/bugs/25931
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