Louis Williams scored 18 and Andre Iguodala had 17 for the Sixers, who snapped a seven-game losing streak and a five-game road skid.
The Rockets led 83-67 in the third quarter and still seemed in control when they led by 89-77 with 10 minutes left in the game. But Houston committed nine turnovers and went five minutes without a field goal in the fourth quarter to fuel Philadelphia's comeback.
Rafer Alston's running one-hander put Houston up 101-98 with 3:43 left, but Miller sank two free throws and Dalembert hit one to tie the game. Alston made a bad pass and Dalembert dunked at the other end to put the Sixers ahead 103-101 with 2:24 remaining.
The Sixers led 107-104 after Dalembert scored with 35.1 seconds left.
Luis Scola rebounded Yao Ming's miss at the other end, but Dalembert blocked Scola's putback try. Iguodala hit two free throws with 16.6 seconds left to put the game away.
Yao scored 25 points and Alston added 20 for Houston, which dropped to 7-4 since Tracy McGrady went out with a left knee injury. McGrady is expected to play against San Antonio on Saturday.
[Associated Press; By CHRIS DUNCAN]
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