The rebels arrived a day late in Geneva on Tuesday for the UN-backed talks after being stranded in Djibouti -- a fact they blamed on Riyadh.
Rebel negotiating team member Mohammed Zubairi defiantly told reporters: "We refuse any dialogue with those who have no legitimacy," referring to the internationally recognised exiled government.
He said they instead wanted talks with Saudi Arabia, which has been leading an aerial campaign against the Huthi rebels since March 26, "to stop the aggression".
But any hope of a thaw appeared bleak with exiled president Abedrabbo Mansour Hadi repeating Tuesday that his side was only prepared to discuss with the rebels a Security Council resolution ordering their withdrawal from seized territory.
And Abdulmalek al-Huthi, the leader of the Shiite rebels who bear his name, appeared equally inflexible.
"They tried to impose their own agenda," said Huthi in a televised speech, accusing the Yemeni government of using the United Nations and special envoy Ismail Ould Cheikh Ahmed as a "tool."
A UN-chartered plane carrying the rebels had left Sanaa on Sunday afternoon but was forced to wait in Djibouti for nearly 24 hours, forcing them to miss Monday's opening of the talks and a meeting with UN chief Ban Ki-moon.
The rebels accused Egypt and Sudan of not allowing their plane to fly through their airspace.
"It was Saudi Arabia which asked its allies" to take the action with the aim of "torpedoing the negotiations", Adel Shujah, another member of the rebel team, told AFP after arriving in Geneva.
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