Harmony.
I have a One for the HT system, and a 700 — that is now discontinued I think — for the bedroom. Both work great.
They support the same devices, since the control codes are downloaded from the internet. They vary in other features (# of devices you can control, color vs BW display, etc, RF support, etc). If the devices aren't in Harmony's database, the control codes can still be learned.
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