It's massively different, because Joi Ito's interactions with Epstein were after Epstein's sexual atrocities were known. Minsky's were in 2001, which as far as I have been able to find is before Epstein was known to be evil.
What sources were you using that implied Minsky's contact with Epstein stopped 10 years before that?
Before Epstein was known to be evil, Minsky accepted support from Epstein for science, and also had a sexual encounter with a girl who was ostensibly a masseuse in Epstein's employ but was actually being forced by Epstein to have sex with his guests--it is not clear which of those guests, if any, knew that she was being forced to do more than just give them massages.
It is this sexual encounter that Stallman was defending, and that the poster I was replying to compared to people defending Ito's dealings with Epstein.
After Epstein was known to be evil, both Minsky and Ito did accept support from him. Minsky, as far as I can tell, did so publicly with no attempt to hide it, and I haven't seen any suggestions that he continued to do so after MIT decided to stop accepting donations from Epstein. Ito, on the other hand, appears to have continued to do so, and appears to have tried to keep it secret.
Can you please provide a reliable source for this claim? Last time I checked there is at least one witnessing of him turned down offering of sexual favours in that Epstein case context, and none of the opposite.