In "The Prism of Lyra" the word "humanoid" is used to refer to anyone of Lyran descent. The book describes all humanoid species as being subsets of the Lyran humanoid genus. I do not fully agree. Several systems within this galaxy support human-like species that are originate to these systems, and that were meant to come into existence by themselves too. Earth, e.g. had primates, had 'original' human-like species, before the visitors came.
All humanoid species living within this part of the galaxy today however, are the result of interference and cross-breeding with the Lyran Forefathers.