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The system is always adapting. You can reset to some default values by resetting the PCM although that's not generally particularly useful. There's no advantage to disconnecting the battery for 24 hours. Even an hour is excessively long.
There is an idle relearn procedure, roughly amounting to idling for a few minutes in neutral (and in drive for autos.) It's more trouble than it's worth IMHO if you're not experiencing odd idle behavior (say after changing your intake e.g.)