Not that I know of, it can only accept remote assistance invitations, which
uses the same protocol for remote control. You need XP Pro for a RDP host.
The only thing I can think of that might work is to send an invitation from
XP Home to set it to automatically connect without the XP Home user having
to aproove the connection (if you can even do that). Then set the
expiration on the invitation to the max (30 or 60 days, whatever it is).
Then you can connect to it XP home through Remote Assistance.
Only other free option would be something like the open source VNC (AT&T's
RealVNC or TightVNC).
Hope this helps.
Brian