Since you admit that your husband slept with a co-worker, then yes, that is cheating. Technically. Unfortunately, you kicked him out during the time he cheated, so you played a part in the scenario.
The bigger question for you is what’s going on in your marriage that you would kick your husband out. That’s really what needs to be addressed, more than the cheating issue. In fact, it almost sounds like you’re looking for a reason to be angry at him again by asking if he committed adultery, which is really just a small part of what appears to be a bigger problem.
Feel free to let me know more about your marital problems in case I can help you. And in the mean time, you have 9 months to figure out whether or not you want to stay married to your husband if his married co-worker’s baby is his, or if that’s your line in the sand.
Good luck!