From the Toyota Repair manual:
1. Idle speed is controlled by Engine Control Module (ECM) and is not adjustable. Check idle speed with
engine at normal operating temperature, transmission/transaxle in Neutral, parking brake applied, air
cleaner and all air intake hoses installed, all vacuum hoses installed, electronic fuel injection system
wiring connectors properly installed, ignition timing properly set, electric cooling fan off (if equipped),
and A/C and all accessories off.
2. Start engine and warm engine to normal operating temperature. Shut engine off. Connect Toyota handheld
tester or scan tool to data link connector No. 3 at driver's side of instrument panel. See Fig. 43 -Fig.
50 . Hand-held tester or scan tool is used to read engine RPM.
3. Apply parking brake. Place transmission/transaxle in Neutral. Start engine and maintain engine at 2500
RPM for 90 seconds and then allow engine to idle while noting idle speed. Ensure idle speed is within
specification. See IDLE SPEED SPECIFICATIONS table. Shut engine off. Remove hand-held tester or
4. If idle speed is not within specification, check Idle Air Control (IAC) valve, wiring and Engine Control
Module (ECM), and air intake system. See IDLE CONTROL SYSTEMS in SYSTEM & COMPONENT
TESTING - 4-CYLINDER article.
The specified Idle Speed is between 650 and 750 rpm.
If the ECM does relearn throttle position, there is no mention of this in the manual, so it must be automatic. You could try driving the car at full throttle for a short time (when road condtions permit) in case that is part of a self-calibration procedure, but I doubt it.