I finally got around to testing more throroughly, and it seems overall, I'm getting about 5-10Mpbs with the HomePlug kit in most places in the house, some a bit more, some a bit less.
Testing was done using one laptop (Asus G1) plugged into the router (Engenius ESR9850). The HomePlug adapter was plugged into the router (LAN side). I then took the other HomePlug adapter and tested with my netbook (Acer Aspire One). Testing was done with iperf, with the -d flag for simultaneous bi-directional testing. Without simultaneous testing (-r flag) the speeds were a bit higher.
In the same room, I saw about 90Mbps, with a max close to 95Mbps. Anytime the path involved going through different breakers, the speeds dropped a good deal. From the router's location to a power outlet near the electrical box, I saw around 15Mbps. To the basement location where it is meant to stay, I get 5-10Mbps. I noticed that the results are not static and change a bit on every test, sometimes by as much as 1-5Mbps.
I also tested from the same iperf server plugged into the router to various wireless G clients and was surprised to see how low the results were, about 5-10Mbps on the main floor pretty close to the router, and around 3Mbps in the basement. What confuses me is that when doing internet speedtests, none of the computers have difficulty getting 5.X Mbps download results. I wonder how that is. Perhaps because of the fluctuations in bandwidth and signal strength, whether with wireless or HomePlug. HomePlug is at least more stable and still faster compared to wireless in most locations except those closest to the router which would be on a different breaker.
Checking for noisy devices plugged into outlets would be quite a daunting task, and I doubt my family would take kindly to me unplugging everything and testing. My conclusion is that with my current network setup, there is little point in upgrading the 6Mbps DSL internet connection as the network does not support it for most of the devices. The next upgrade might have to be a strong wireless AP. In the meantime, the HomePlug does the job and is better than wireless in the basement location.
I was considering another HomePlug adapter for the home media area which is at the other end of the room where the router is located. Interestingly, since the outlet is on a different breaker, the HomePlug adapter actually performs worse there (~3Mbps) than in the basement, and clearly worse than wireless for that location. However, on an outlet on the opposite wall it would perform much better at 80-90Mbps.
EDIT: I checked in the electrical box, but there was no indication of AFCI breakers. I would test with other adapters if I had access to them. Could a 200Mbps adapter actually outperform a 500Mbps one?
EDIT2: One important point is that the bandwidth reported by iperf may be different from the actual throughput. The file transfers I had done before were completed more quickly than the iperf results would indicate.