It may be possible to do a habeas petition of you have uncontested and uncontradicted proof of factual innocence. The problems you face are that the fact it was so long ago and he admitted, in open court, that he did it. It will be a long, uphill battle with a very slim chance of success.
The odds of winning are virtually none.
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I will add that it was his choice to plead guilty. Was the lawyer really ineffective? ... I wonder how you assess his acquittal possibility....
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