The allegations have been made after his death, when he could not defend himself and even those allegations do not contain the slightest evidence of "bad behavior" of Minsky, but only of Epstein:
"Virginia Giuffre testified in a 2015 deposition in her defamation lawsuit against Epstein's associate Ghislaine Maxwell that Maxwell "directed" her to have sex with Minsky among others. There has been no allegation that sex between them took place nor a lawsuit against Minsky's estate. Minsky's widow, Gloria Rudisch, says that he could not have had sex with any of the women at Epstein's residences, as they were always together during all of the visits to Epstein's residences."
I have no idea which is the truth about Minsky, but I find it disgusting that when R. M. Stallman has published a correctly argumented defense for his dead friend, there have been great attempts to cancel him, even if there were no grounds to criticize this action. Sadly, there is no difference between the American "cancel culture" and the hunt for the "enemies of the working people" that happened in the universities of the countries from Eastern Europe after those countries became controlled by the Russians after WWII. Also there, it was typical that some unproved allegations of even minor "bad behavior" would result in the accused losing their academic jobs and being permitted for the rest of their lives to do only some menial work, for their "reeducation". When any friend had attempted to defend them against the false accusations, they would have had the same fate, exactly like in the case of Stallman.