After Vatican I, I am not aware of any mechanism to censure the pope while he is in office.
He has total supremacy in faith and morals.
So Pope Francis could declare Martin Luther to no longer be a heretic, he could declare that St. Paul’s writings in 1 Cor. 6 and elsewhere are null and void, he could say that Jesus’ words to “Go into all the world and preach the gospel to every creature” no longer includes Muslims, Jews, Buddhists, Hindus, etc?
Don’t think so.