Probably, but I've been looking for the last 18 months and haven't found anything.
It is very annoying. There's no really reliable and simple way of getting recorded material off, either to keep or simply for viewing on another (non-Tivo) device. You can't stream it either unless you rent another Tivo box from them. The firmware has been reworked by Virgin, so I suspect the solution would involve applying a firmware version from a non-restricted Tivo as used elsewhere in the world. Probably not a good idea as Virginmedia has comprehensive remote access to your box (via the very network links they won't let you use).
Good luck finding a recorder with HDMI-in that you don't have to buy from somebody called Boris in the Southern Ukraine, or Sunshine Trading in Hong Kong for $5000. The manufacturers and video distributers are agreed on that one. Hauppauge do a PC capture card with HDMI or you can buy recorders with component input and feed them from an HDMI/component cable plus a separate sound lead. Did I mention that the Virginmedia signals and recordings are encrypted by the way - so that won't work unless you can crack their code.
So, basically, you can use the crappy scart output (which I think involves resetting your Tivo box anyway) and laboriously record item by item in real time and a poor version of SD. As far as I know Tivo lacks the recording-batching feature that allows a Sky user to record multiple items unattended. You could probably up the quality by using a decent HDMI to scart cable and recording in the best RGB mode that your recorder supports, but it's still real time, item by item.
I'd be delighted to hear that you have found something though. I tend to give up when the cost and effort exceeds the cost and effort of just buying the damn thing on disc. Which I imagine is exactly what the suppliers are aiming at.
Edit: it seems I'm out of date and that there are a few reasonably priced HDMI-in recorders around. I can't see why you shouldn't record straight off your Tivo box with one of these using the HDMI output. I assume the output is an unencrypted digital stream or otherwise your Telly would throw a fit. Still item by item and real time though.
Edit edit: no, of course not - that's me being daft. It'll still be HDCP encrypted to prevent copying so you're back to Boris for a recorder.
Edit edit edit: ooh, the things I'm finding out. Yes, you can select a 'package' of shows to watch (or record, obviously)
EDITED: 5 Jul 2014 10:01 by WILLIAMA