The best episode directed by Robert Picardo is "Alter Ego", rated 6.5/10 from 24 user votes. It was "written by Joe Menosky". "Alter Ego" aired on 1/15/1997 and is rated 0.1 point(s) higher than their second highest rated, "One Small Step".
Stardate: 50460.3. Ensign Kim asks Tuvok to teach him Vulcan emotional control techniques when he falls in love with a holodeck character named Marayna. Kim soon becomes jealous when he sees Tuvok interacting with her behind his back as she tries to seduce him.
Director: Robert Picardo
Writer: Joe Menosky
Stardate: Unknown. Voyager searches for a long-lost Mars spacecraft.
Director: Robert Picardo
Writer: Bryan Fuller