I can't find the exact "100% success" quote to put it into context, but for one thing, it's a six-plus year old document. It's possible that they had an exploit at the time. An exploit doesn't require Apple's cooperation.

The document also doesn't claim this success remotely (only "A remote installation capability will be pursued for a future release", which really gives no clue as to how possible that was or is). We've always known that pretty much any mobile device can be vulnerable with physical access (that's what "jailbreaking" you phone is doing).