Thanks for the follow-up Haowu, it didn't work in itself but helped me find a 
work-around. I ran the following (slightly different) commands on my USB image:
  gpart bootcode -b /boot/boot0 da0
  gpart bootcode -p /boot/boot1 -i 1 da0
  gpart set -a active -i 1 da0 (with a warning message "gpart: attrib 'active': 
Device not configured")
But it ended up with the same behaviour: the bootstrap stops (and reboot the 
machine) right before the "loading /boot/defaults/loader.conf" output message, 
which got me thinking that the problem may be in the stage 3.

So I tried with a fresh fbsd10 USB image with only the /boot/loader from my 
fbsd9.2 (I mounted the USB stick and cp-ed the file) and voila, it works.
I took a very quick look at the /sys/boot/i386/loader code, and the major 
(only?) difference I found there was the NANDFS support. But I don't know if it 
is used for the USB image and there are probably lots of other possible cause - 
it needs a more expert look I think.

Troyax.

On Sun, Apr 13, 2014 at 10:43:31AM +0800, Haowu Ge wrote:
> Try this?
> gpart bootcode -b /mnt2/boot/boot0 da0
> gpart bootcode -b /mnt2/boot/boot1 /dev/da0s1
> gpart set -a active -i 1 da0
> 
> 
> 2014-04-11 21:54 GMT+08:00 Troyax <[email protected]>:
> 
> > > Hello, since there's no answer yet, and it seems to be a bootloader
> > related problem, would you try the following?
> > >  * Create a 10.0 memory stick
> > >  * From your 9.2 environment, copy the bootcode to the memory stick:
> > >    # gpart bootcode -b /boot/boot da0
> > >  * Try and see if it boots
> >
> > I have just tried your suggestion, but the result is the same. To be more
> > precise, BTX loader 1.02 seems to launch the loader correctly; but it stops
> > (and reboots the machine) very early on loading the kernel.
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