I just tested it on CHR with ROS 6.32.4 (bugfix) and 6.34.3 (current) and it seems to work. No special config, just enabled UPnP, set internal and external interfaces and that's it.
When I open port using standard interface in Windows (tested with 8.1), correct dynamic rule gets added to IP->Firewall->NAT. The only problem is that Windows says something like "gateway did not accept changes" (I have localized Windows, so it's probably not the exact translation). But I remember this happening since long time ago. Different UPnP client (upnpc from
http://miniupnp.free.fr) just works without complaints.