Guest Stars Walton Goggins voices Cecil Stedman Zazie Beetz voices Amber Bennett Gillian Jacobs voices Samantha Eve Wilkins / Atom Eve Jason Mantzoukas voices Rex Sloan / Rex Splode Andrew Rannells voices William Clockwell Chris Diamantopoulos voices Donald Ferguson Zachary Quinto voices Robot Melise voices Kate Cha / Dupli-Kate Ross Marquand voices The Immortal Ross Marquand voices Rudolph "Rudy" Conners Grey DeLisle Griffin voices Shrinking Rae Ami Shukla voices Additional Voices Nyima Funk voices Additional Voices Dan Navarro voices Additional Voices Robert Kesselman voices Additional Voices Jay Pharoah voices Zandale Randolph / Bulletproof Sterling K. Brown voices Angstrom Levy Fred Tatasciore voices Adam Ben Schwartz voices Shapesmith Cliff Curtis voices Paul Ben Schwartz voices Rus Livingston Scoot McNairy voices King Lizard Reginald VelJohnson voices Dean Winslow Chris Diamantopoulos voices Doc Seismic Khary Payton voices Astronaut #1 Grey DeLisle Griffin voices Betsy Zehra Fazal voices Astronaut #2 Tatiana Maslany voices Aquaria Tatiana Maslany voices Forewoman Kari Wahlgren voices Mrs. Farnsley Kari Wahlgren voices Denise Kari Wahlgren voices Caitlin Gary Anthony Williams voices Graduation Announcer Gary Anthony Williams voices TV Announcer Gary Anthony Williams voices Space Director Fred Tatasciore voices Supreme Lizard Melise voices Wife Ben Schwartz voices Punk Thug Zehra Fazal voices Louise Cleveland Berto voices Darkwing Cleveland Berto voices Royal Guard #1 Cleveland Berto voices Husband Micah Aliling voices Louise's Daughter