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Rotors warp if you stop for some time after heavy braking with your foot on the brake pedal. Such as waiting at traffic lights.
The heat doesn't dissipate as well from the rotor when the brake pads are touching the rotor at rest, this is common on all cars. This leads to brake rotors warping due to the different rates of cooling across the rotor.
I suggest that you get the rotors measured for run-out (measure the extent of the warp), they can be machined in situ with the right equipment to true them up or remove the rotors and take them to a machine shop to be machined flat again.
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