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We report simultaneous Raman sideband cooling of a single $^{87}$Rb atom anda single $^{133}$Cs atom held in separate optical tweezers at 814\,nm and938\,nm, respectively. Starting from outside the Lamb-Dicke regime, after45\,ms of cooling we measure probabilities to occupy the three-dimensionalmotional ground state of 0.86$^{+0.03}_{-0.04}$ for Rb and0.95$^{+0.03}_{-0.04}$ for Cs. Our setup overlaps the Raman laser beams used tocool Rb and Cs, reducing hardware requirements by sharing equipment along thesame beam path. The cooling protocol is scalable, and we demonstrate cooling ofsingle Rb atoms in an array of four tweezers. After motional ground-statecooling, a 938\,nm tweezer is translated to overlap with a 814\,nm tweezer sothat a single Rb and a single Cs atom can be transferred into a common 1064\,nmtrap. By minimising the heating during the merging and transfer, we prepare theatoms in the relative motional ground state with an efficiency of0.81$^{+0.08}_{-0.08}$. This is a crucial step towards the formation of singleRbCs molecules confined in optical tweezer arrays.

Preparation of $^{87}$Rb and $^{133}$Cs in the motional ground state of a single optical tweezer