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Reset ECU after new exhaust manifold/ O2 sensor?

I was taught that when I worked for Chrysler that it was to discharge any capacitive charges in the system. We'd do that especially when replacing air bags. We'd go so far as to turn on the lights, honk the horn, hit the brakes... pretty much anything to get it all dissipated. It's the same idea for resetting the ECU since it turns any leftover "ones" in the computer to "zeros".
If the fuel trims are all messed up from a bad front O2 sensor, resetting the ECU will be the fastest way to getting the trims back in line.
If the CEL was light and you got codes related to the O2 sensor, then Yes. If not, then what Max said and Yes again.