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In this paper, we realize error-robust scalable extension of H.264/AVC ubiquitous video streaming using an adaptive packet interleaving mechanism among heterogeneous networks and devices. The state-of-the-art SVC is used to provide combined scalability to adjust spatiotemporal resolutions and SNR quality. In an error-prone channel, a method of bandwidth estimation and a three-state network transition chain are proposed to adjust the transmission bit-rate and the interleaving window size, respectively. Unlike past packet interleaving methods, the interleaving window size can be adjusted dynamically to compromise pre-processing delay, e.g., packet re-arrangement time for interleaving, and quality improvement. Additionally, with the understanding of the global SVC bitstream structure, a SVC coder is designed to increase the decoding efficiency and real-timely extract the proper SVC-quality bitstream based on the network condition. In our experiments, performances of the adaptive packet interleaving mechanism w.r.t. distinct interleaving window sizes and network conditions are demonstrated for distinct kinds of videos.