How to trigger an idle throttle position re-learn?

Hi,

My Toyota Vitz 2007 idles roughly and I got advice to clean the throttle body and make the vehicle re-learn the idle by starting the engine and let it idle for some time.
Is it necessary to instruct the vehicle in some way (disconnecting the battery may be) to start re-learning? Or does it keep relearning always so that it is unnecessary to trigger it?

If the battery is disconnected, all my cars all need to have throttle depressed slowly to the floor once or twice, just after the ignition key is turned on. Then the key key is turned off. This resets the idle air control to a default position.
Then you start the car and let it idle, and let it do its own thing. It is necessary to turn the air-con on (make sure the compressor engages), then off, every so often to let the computer learn how much more the idle air needs to open and close down to compensate for the air-con.
Then you have to drive them down the road so they learn they learn a driving neutral position-- well two out of three on that one.
As far as I know, all my 3 computers go thru a certain idle speed learning period, then stop learning. They're always correcting for fuel air ratios.
None of my cars are Toyotas, so your car may be entirely different.
Just sayin'.
If you can't get a better answer on this forum, try a Toyota specific one.