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For real-time video streaming systems, the video packets arriving after the display deadline of their frames are considered as late-arrival packets, and typically they are discarded. This will affect the current frame and the following ones due to error propagations. For this reason, in this paper, we propose an approach to exploit the late-arrival and out-of-order packets, which includes two mechanisms. The first mechanism will use these packets to update the reference frames to make them more consistent with the encoder side, and this will eventually reduce the error propagations. The second mechanism will use these packets to increase the chance of successfully decoding the Reed-Solomon (RS) code. In the proposed approach, a sub-GOP based systematic RS code is used and optimized to exploit these packets, where the size of each sub-GOP and the parity packet number for each sub-GOP are optimally tuned, taking into consideration the maximum end-to-end delay, the network conditions, and other system parameters, so as to make the best use of the late-arrival packets and to exploit the out-of-order packets. Finally, the experimental results show the advantage of the proposed approach over other approaches. [ABSTRACT FROM AUTHOR]