Here's the thread I was thinking of.
OFFICIAL Gen. 3 Clear Headlamp DIY Thread
Unfortunately, it looks like the pictures are no longer posted, so all you get is the written instructions. If you search the Gen3/Gen4 forum for the word bake or baking, you'll come up with more threads.
Couple of things....
1) I notice reading over it, that the author recommends preheating the oven to 300-400 degrees. I've seen several other posts that say you should only heat to 200-275 degrees, because you may melt the plastic at higher temps. Being on the safe side, it may be better to go with a lower temp.
2) If you're going to attempt this, you may want to make sure you have some source for getting replacement headlights in case you trash yours trying to fix them.
3) Don't be angry at me if you try this and it goes south. I'm not recommending that you do it. I've never done it myself and personally would not mess with it. The only way I might mess with it is if I already knew I could get a replacement in case I messed it up. So, you're on your own if you try it.
Here's another post I found in Google with a DIY
http://www.jlevisw.com/Bake.pdf
You should be able to find more info with further Google searching. Try searching for "baking headlights" or "clearing headlights", etc. You may also find other sources for replacement lights.
Again, I don't know what year your Corolla is, but there are a bunch of Corolla headlights for sale on eBay.
Good luck.