My dcbaby also wakes up 3 or 4 times during her nap, let out a cry and then falls back asleep. I have the video monitor on and now have seen that she does that while still sleeping! She's in the room with my 3yr good sleeper. He too falls back asleep when she's done.

I'd say if they know how to self-sooth then put 1, 2 & 3 together. It wont be easy the first week but they'll get used to it and fall back asleep too.

Good Luck