Did Peter’s Experience in Acts 10 Challenge Papal Infallibility?

I question the Catholic teaching on papal infallibility by looking at Peter’s actions in Acts 10. In the vision, Peter resists the instruction to kill and eat, and the message is repeated three times. The Holy Spirit then tells him to go with Cornelius’s visitors without hesitation. Peter later recognizes that God does not show favouritism and that he should not call any person impure. To me, this episode shows Peter learning and being corrected after Jesus commissioned the disciples to preach the gospel. I see this as evidence that Peter, like other people, could misunderstand and need correction. Does this challenge the claim of papal infallibility?

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