No, there's no query that will "undo" a committed data-modifying query.
If you have a backup of the database, you can restore the backup and use DBA tools (in MySQL's case, it's mysqlbinlog) to "replay" all data-modifying queries from the logs since the backup back to the database, but skip over the problem query.
If you don't have a backup and all logs since the that backup, there's nothing you can do to recover the data.
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