while at home you can download up to 10 recordings from the cloud DVR to your apple/android device and then watch even with lack of internet connection at all. I know that is not precisely what you are asking in your post.
The xfinity TV app may provide a better experience than the TV go app. Comcast seems have moved the functionality of the TV-Go app to the xfinity TV app. I'm just guessing that soon it will disappear as a separate app.