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Blunt answer: no.
If its hard subbed its ruined, hence why people should NEVER hard sub.
To "remove" you can a) crop b) blur
Both loose information and aren't worth the bother, but the sad truth is, its not possible to know what information is meant to be in the place occupied by the subs. There are filters that remove logos, however these only work in uniform areas of colour and essentially all its doing is option b. ie. delogo filter for vdub.
There's certainly no program to do it, you'll need to apply filters in vdub to crop or blur.
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Mouse nipple for the win! Trackpoint or death!
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