I use the Harmony 688. Got it for $120 at tigerdirect.com last year and love it.
It controls my HR10-250, Sony TV, JVC VCR, Yamaha Receiver, Pioneer 300 disc CD changer, Pioneer 6+1 cassette deck, and Slimline PS2 (DVD controls).
All of the commands were downloaded into the remote from the Logitech/Harmony website, but it can also learn commands from the original remote (I haven't needed to do this for any commands, but tried it just to see how easy it was).