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How do I undo an action?
Open your Activity Log, find the action, and reverse it if it's reversible. The assistant asks before anything sensitive or hard to undo in the first place, so most of what reaches that point is something it prepared and you approved.
Reversible actions — like completing or snoozing a reminder, or a configured routine action — can be undone from the log. Some actions that leave your accounts can't be pulled back, which is exactly why the assistant asks before doing them rather than acting and offering to undo.
See also: What is the Activity Log? · How does it decide to ask versus act?