If the caliper has been drilled from the other side you can tap them out, if not you may find soaking the whole caliper in a bucket of hot tap water for 15-20 minutes helps out. The key really is routine maintainance on these calipers as they do stick solid. If all else fails you can split the caliper in 1/2 by undoing the bolts holding it together and then you have better access to remove the pins as they'll be sticking up out of just 1 part of it.
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Modern motorcycles are bloody brilliant, enjoy it while we can
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