HIGHLIGHTS

RETURNING SHOW: NBC must be breathing a sigh of relief that, amid its current ratings disasters, the network’s hit singing competition “The Voice” (NBC at 8) is back for Season 4. But there’s still the wild card of the new judging panel — Blake Shelton and Adam Levine are still on board, though Cee Lo Green and Christina Aguilera have temporarily jumped ship to focus on their music. Will viewers love replacement judges Usher and Shakira just as much?

The gang on “How I Met Your Mother” (CBS at 8) engages in some time travel, as Future Barney and Future Ted show up to persuade the present-day characters to go to a Robots vs. Wrestlers competition.

An undercover police officer winds up dead with a bag of diamonds inside his body, and the team on “Bones” (Fox at 8) must figure out whether his death is related to a string of ATM robberies he was investigating.

Caroline insults the diner and winds up fired, so it’s up to Max to smooth things over between Caroline and the diner manager, Han, on “2 Broke Girls” (CBS at 8:30).

Two-part documentary “180 Days: A Year Inside an American High School” (WETA, MPT at 9) goes through a year at Washington Metropolitan High School in D.C., and features principal Tanishia Williams Minor, with a look at giving struggling students help in non-traditional ways.

Joe dispatches two followers to capture Claire, but Ryan is seemingly a step ahead on “The Following” (Fox at 9), while Ryan’s past relationship comes back to haunt him.

It’s major drama for the Ewings on “Dallas” (TNT at 9) when Christopher’s usage of technology may result in disaster, while Bobby wants to keep the family together.

After a four-month hiatus, “Revolution” (NBC at 10) is back with the rest of Season 1, as Miles tries to escape the violence in Philadelphia. Meanwhile, sparks fly between him and Nora, while Rachel attempts to redeem herself by reaching out to the rebels.

Dr. Eris makes a client and her husband so angry that they storm out of a session on “LA Shrinks” (Bravo at 10), and Dr. V advises a bored couple about how to heat up their relationship.

News anchor Brian Williams is on “Late Show With David Letterman” (CBS at 11:35), along with musical guest Ed Sheeran.

“The Tonight Show With Jay Leno” (CBS at 11:35) hosts actress Eva Longoria, comics Keegan-Michael Key and Jordan Peele and singer Crystal Bowersox.

— Emily Yahr