Forerunners I thought were supposed to look like Elves from LOTR and were very similar to humans. The only reason Didact looked ugly was because he was mutated.
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Forerunner Manipulars were said to look almost identical to humans, as it was heavily implied that humans and Forerunners were originally the same species before the Precursors split them apart. As Forerunners mutate, they gradually take on more alien characteristics.
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Except, near the end of the Forerunner era, they used a different mutation method, where they now look like larger Manipulars. Remember the councilors at the end of Cryptum?
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That's a good point, I'd forgotten about that actually. I think it was Splendid Dust of Ancient Suns who said he mutated himself every year so he wouldn't distort his appearance from being similar to a Manipular. Now I want to reread Cryptum again. Bear crafted such a beautful, almost Homeric-styled world in that book.