Since you are under warranty I would have the dealer look at it. Chances are it is nothing to worry about. Mine has done it before and then quit for thousands of miles, only to do it again for a while.
Or, you could pull the pads and see if there is a little piece of grit in there between a pad and the rotor. You might be able to tell that if there is any gouging on the rotor, but a small piece of grit will not gouge noticeably. And do spray the things down with brake cleaner as recommended by Wenzel.
Keep in mind that no rotors are perfectly round and that some calipers don't always retract entirely every time.
Do check your brake fluid level.
Others may have other suggestions of things to check.
Monte