I can't find any information on this. Complex, in their article Sneaker Innovations We're Thankful For state, "We can't pinpoint the invention of the cupsole, but without it we're all still in vulc soles and plimsolls."
Was it the first adidas tennis shoe of 1963-4? (that would become the Robert Haillet and then the Stan Smith)
The adidas Supergrip of 1965, the predecessor to the Superstar, is another early example it seems.
As is the 1966 adidas Gazelle.
Nike's first basketball shoe, The Blazer of 1973 had a vulc sole. I think their first basketball cupsole was the Air Force 1 of 1982.