Best Rate Criteria: Fun.
The only thing that come to mind is that you can't really control the two cubes simultaneously, but it's probably due to the whole "2-character-inversed-control" scheme. I mean you end up controlling one cube after another, so the only constraint on the "inversed" cube is that the controls (that match the first) end up being just, well... inversed.
Otherwise, the core loop of having to plan the right trajectory is really effective, congrats!