They do it because the rotors warp from heat and cause the pads to move away from the disc. The front discs warp more than the rear and thus move off the disc more. If the brakes are applied after a longer period of non-braking the bias will be screwed up (too much brake to the rear).
A tap on the pedal just before hard braking brings the pads up to the discs and helps keep the bias as intended.