In a phrase: yes, but very slowly.
Chris, as hard and possibly disturbing as it may be to believe, IS human. Shocking I know.
One of the defining traits of a human, is their innate propensity to be constantly socialized (in the sociological sense) by those around them.
Chris is autistic as fuck, so socialization is slow to effect him, but not impossible, the fact that Chris was so heavily socialized by advertisements and television is proof enough of that.
However slow Chris may be socialized, he is infact still being influence judt as you and I are. Chris has started to shun the dying Barb, thus deminishing the degree of toxic influence she is having on him. In hand with this, is the fact the Chris is being exposed to new people at Impulse, and has developed a group of "friends" that are acting much like a collective agent of socialization, socializing Chris in a preferable manner.
By limiting Barb's socialization of Chris and increasing the influence of the Impulse socialization, Chris has learnt new (read: basic) social skills (such as don't touch people, don't ram your face into their chest, et cetera), and new attitudes (Chris has a more relaxed view on alcohol, possibly weed, and the LGTBQ community), that, while are only slight to moderate improvements, ARE real improvements.
Chris is getting better, if extremely slowly, thanks to certain agents of socilization in his life, and the phasing out of Barb as a sociological factor in his life.
Its easy to pretend Chris is incapable of improving himself, but people who are far worse than Chris have improved themselves. I'm not even saying Chris is getting better that fast, but you can't rationally say he isn't improving at all. He'll always be Chris, he'll always be autistic as fuck, but he can and has improved.
TL;DR: Chris is a autistic as fuck, but is slowly getting better.