This paper investigates decoupled beamforming techniques for the distributed multi-input multi-output (MIMO) two-way relay networks (TWRN) with imperfect channel state informations (CSIs). The objective of this paper is to maximize the weighted sum rate (SR) with semi-infinite relay power constraints. Since the objective problem is difficult to be solved directly, considering the high signal-to-residual-interference-plus-noise ratio (SRINR) and employing the Cauchy-Schwarz inequality and S-lemma, the problem can be approximately converted into a source beamforming decoupled one. In addition, with the optimal relay beamforming design and maximum ratio combining (MRC) at the receiver, the MIMO channels are decoupled into parallel single-input single-output (SISO) channels. By this way, the suboptimal relay beamforming matrix can be efficiently obtained with minimal relay power constraint. Specifically, the semi-infinite constraints can be reformulated into a linear matrix inequality (LMI), which can be efficiently solved by using an alternating optimization algorithm. Numerical results demonstrate that our proposed decoupled beamforming scheme outperforms the existing works in terms of the SR and the computational complexity with satisfactory convergence.