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Subtask -------- Dilation SE1 Dilation SE4 Erosion SE1 Erosion SE4 Iterate 3 Dilation SE3 Iterate 3 Erosion SE3 Subtask -------- Dilation SE8 Dilation SE2 Erosion SE8 Erosion SE2 Iterate 3 Dilation SE3 Iterate 3 Erosion SE3 Subtask -------- Dilation SE5 Dilation SE4 Erosion SE5 Erosion SE4 Iterate 3 Dilation SE3 Iterate 3 Erosion SE3 |