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YouTube user "Puppet Dump" has uploaded an episode of CityKids, and the "Inside the Head" characters are different puppets from the ones currently pictured on the wiki, which appear to be promo photos.
At the Grammy performance with Cee Lo, the Captain that appeared was the one from the promo picture, but the Libido that appeared was the one pictured here. Also, Lieutenant is played by David Rudman, but I couldn't identify the other two voices.