TiVo Desktop 2.3 now supports scheduled transfers and conversion to PSP, iPod and Treo but expect to pay for the privilege- $24.95 to be exact vs. free for Windows Media-based devices like the Toshiba Gigabeat-S. Looks like they're passing the licensing cost onto you for MPEG-2 and H.264 support. Still, not a bad price.
Disclaimer The opinions expressed herein are my own personal opinions and do not represent my employer's view in any way.