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Robert Picardo was born on October 27, 1953 in Philadelphia, Pennsylvania, USA. He graduated from the William Penn Charter School and Yale University. He wanted to be an actor, but his parents initially were not supportive. This changed when in college he sang in Leonard Bernstein's "Mass", and Bernstein himself saw Picardo and told him he should pursue being an actor. The young Picardo asked Bernstein to tell that to his parents, which the great composer did, thereby changing their minds. Picardo started as a noted stage actor, appearing in "Gemini" on Broadway, among others.