Is One Set Per Exercise Enough With Bodyweight Training?

If you put enough effort into each set (to trigger an adaptation) and you are improving from one workout to the next then yes. The key is intensity of effort and pursuit of progress. As I always tell my training clients the price you must pay for short workouts to be effective is hard work.

When the fatigue starts to build... your set is just getting going!

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The caveat to this style of training is you need to choose exercises where you can fail safely!