“Whoopi Goldberg Presents Moms Mabley” is airing at 9 p.m. Monday on HBO. (Michael Ochs Archives/Getty Images)

J.J. Abrams’s new project, “Almost Human” (Fox at 8 p.m.), returns for the second segment of its two-part premiere tonight with John and Dorian discovering the lucrative trades of IRCs, or Intimate Robot Companions, which are otherwise known as sexbots.

After Barney’s dad arrives at the hotel, Robin starts to get nervous about their future together on “How I Met Your Mother” (CBS at 8). Meanwhile, Ted is upset that one of his wedding chores didn’t go quite as planned and wonders if he was sabotaged.

There’s more disappointment on “2 Broke Girls” (CBS at 8:30) when Max applies to the Manhattan School of Pastry. She decides to bake a tart for her entrance exam, but things don’t turn out exactly the way she had hoped.

To celebrate the 50th anniversary of the BBC’s most global phenomenon, “Doctor Who: Tales from the Tardis” (BBC America at 9) airs exclusive interviews with principal cast members from the show’s 50-year history. Former doctors Matt Smith, David Tennant, Tom Baker and Peter Davison are all featured.

Finally, Ichabod, Abbie and Frank gather the nerve to confront the Headless Horseman on “Sleepy Hollow” (Fox at 9), but Ichabod is suddenly struck with the realization that the man’s intentions could be different from what they had originally thought.

Directed by Whoopi Goldberg, “Whoopi Goldberg Presents Moms Mabley” (HBO at 9) celebrates the iconic African American stand-up comedienne Jackie “Moms” Mabley, who broke racial and sexual boundaries. Recently unearthed photography, rediscovered performance footage and the words of numerous celebrated comedians, entertainers and historians underscore her profound influence.

To continue the “Doctor Who” overload, “The Science of Doctor Who” (BBC America at 10) brings in former rock star and popular TV physicist Brian Cox to explore the universe of everyone’s favorite Time Lord. With the help of celebrity guests, Cox explains the physics that allows the Doctor to travel through space and time.

Actor Vince Vaughn and the 2013 NASCAR Sprint Cup Series champion come to “Late Show With David Letterman” (CBS at 11:35), along with a musical performance from Luscious Jackson.

Actress Whoopi Goldberg joins “The Tonight Show With Jay Leno” (NBC at 11:35), with a performance by Cirque de Soleil.

Television host Barbara Walters and actor Josh Gad are on “Jimmy Kimmel Live” (ABC at 11:35), with musical guest Fall Out Boy.

Rachel Lubitz