FiOS DVR Manager for iPhone, who might actually be on Verizon for their phones now too. It adds support for controlling multiple DVRs, a refreshed UI to match the latest version 1.9 on set-top boxes, access for non-DVR users, and a "What's Hot" feature showing what others in your area are watching. Our friend Dave Zatz has already gone hands-on with the new version 1.5.0 and reports an improved experience with a smoother login process to boot, although he noted it could still improve by integrating itself into the remote control app that's also available.
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Verizon FiOS DVR Manager for iPhone version 1.5.0