In a lot of cases, it's just a function of a more free flowing exhaust. You can install a power commander, but it may still do it.
My 2005 R1 "lobes" at idle like I'm running a high lift cam in a small block V8
You can kinda hear it a little bit in this video (skip ahead to 7:30 where I fire up the bike):
http://youtu.be/tRjtyxKKA08
If the bike runs strong and you are not having any other issues, I wouldn't worry too much about it. If you have a power command, you may be able to go into the map and trim out the idle area of the map a bit (I did this and it kinda helped a little, but it's hard to say how much). Just bump up the gas a little in the lowest couple of RPM areas and it may smooth things out a little bit.
Like I say, it wouldn't worry too much about it. It's probably largely due to installing the slip-ons.
The only other thing I can think of might be to get a Uni-sync gauge and check the air-flow between the throttle bodies. You might be able to sync them up a little bit, but I'm not 100% sure, as I haven't attempted that on my bike (so I can't really speak to how to do it for certain, nor if it would have any impact). I can say on car motors, that can smooth out the idle in some cases and also help the off idle smoothness, etc.
Ray