Critics’ choice

Robot Wars (BBC2, 8pm-9pm)

New series. Dara O Briain and Angela Scanlon present a new format for the contest. Among the new twists are a new hazard that fills the arena with

Louis Theroux: Dark States – Murder In Milwaukee

(BBC2, 9pm-10pm)

The reporter examines gun crime and racial tensions in the US city, where the homicide rate is 12 times the national average and the police are frequently regarded with distrust. He follows the police department’s homicide officers.

Only Connect (BBC4, 7pm-7.30pm)

A team of Vikings takes on a squad of parishioners in the lateral thinking general knowledge quiz. As ever, host Victoria Coren Mitchell will be asking contestants to make connections between things that at first do not appear to be linked, including a comedian, an identical twin, and a ‘history boy’. thecouriermagazine fog, Robot Redemption rounds, in which losing teams have a chance to get back into the contest, and the show’s biggest ever battle, the Ten Robot Rumble, in which 10 teams battle to the death with no time limit.

Your Song (STV, 9pm-10pm)

Emma Willis presents a oneoff special in which members of the public receive private performances from their favourite stars. James Arthur sings for the founder of an antibullying charity, Paloma Faith acts as celebrant at a gay wedding, the Script perform for a woman recovering from two recent bereavements.

The Secret Life of the Zoo

(More4, 8pm-9pm)

The Hi Way elephant family have been hit with a potentially deadly virus affecting animals in captivity and in the wild. With the youngest members of the family most at risk, the keepers and Chester Zoo’s veterinary team do all they can to combat the mysterious illness.