"There has been agreement over an executive plan based on the previous ideas presented in the Qatari mediation," which led to a peace deal in June, Abdulmalik Saeed, Yemen's ambassador to Qatar, said on Friday.
Thousands of people have died in an uprising by tribal Zaidi fighters that first broke out in 2004 in the mountainous Saada province near the border with Saudi Arabia.
Their aim is to restore the Zaidi imamate, which was overthrown in a 1962 coup.
The fighters reject the regime of Ali Abdullah Saleh, the Yemeni president, branding it as illegitimate, although Saleh is himself a Zaidi.
A branch of Shia Islam, the Zaidis are a minority in mainly Sunni Yemen but form the majority in the northwest of one of the world's poorest countries.
Al-Huthi was killed by Yemeni security forces in September 2004 after starting an uprising.