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I had this too a couple of times, it was most mysterious. All the data was fine but icons vanished and no amount of resyncing brought them back. In the end I found two ways:

1. Recreate the perspectives on the mac and re add the custom icons there, then sync.

Or:

2. Reset the ipad database and re-sync.

I'm not sure what triggered it the first time, but the second time I was doing some big time reorganisation on the ipad converting tasks to/from projects and flinging folders all over the place, and poof - they just vanished.