I do not know of a link, but I have tried this by burning a VCD for the firmware upgrade being discussed at the top of the Hardware Forum. It played fine on my RP-91.
I can confirm CD-R VCD playback on the RP91 for you as it was the only way I could watch Crouching Tiger Hidden Dragon before it hit stores here as well as The Phantom Edit (which had to be transferred to VCD).
All on CD-Rs and CD-RWs made by Acer.
Not 100% about SVCD, though. I never tested it myself. :b