Most likely, you have top replace the Throttle Body Assembly. But before doing so, check the air filter and replace if dirty. Then check the entire air intake, between filter and TB for any debris/restriction. Clean the MAF sensor (CRC MAF sensor cleaner will do). Check/clean the connector of the Throttle Position Sensor (TPS). Apply dielectric grease on the MAF and TPS connectors to prevent corrosion.
The drive-by-wire electric throttle control actuator has very sensitive components and Infniti does not recommend cleaning of the Throttle Body and Valve due to possibility of damage (DTC P050x). Also, the throttle body and plate have anti-gunk coating which when removed can cause high idling problems. If you have to clean the TB, it would be better to remove the throttle plate (butterfly valve, 2 mounting screws) and then use a rug to clean the TB and plate, NEVER SPRAY CARB CLEANER DIRECTLY INTO THE ASSEMBLY. Make sure the mounting screws are installed securely as they can get ingested by the engine when loose.
If all of the above fail, then you have to replace the Throttle Body Assembly (@ $500). Refer to the Factory Service Manual below for additional info about diagnostic (page EC-435) and TB replacement (page EC-437. YOu have to do several "Learning" procedures if the TB was replaced.
http://www.nicoclub.com/FSM/M/2003/ec.pdf
I'm talking from experience. I had my TB replaced, fortunately under warranty, in my 03Q45 (similar VK engine in M45).