This episode seems fairly good from what I've seen of it. Animation was not as good as the last one. The quality really goes up and down, doesn't it?
In case anyone else was wondering, Ashura's voice actress seems to be Honda Takako (who is apparently also in Naruto and Nana, among other things). This information was acquired by a process involving the ending credits, a kanji dictionary, and Wikipedia, so I can't promise 100% accuracy, but I wanted to find out and I couldn't think of any other way to do it (it's either her or some other voice actress with the same kanji in her name). I'm very fond of her voice for Ashura, at any rate.