It seems to me that sci fi television writers have missed out on a great idea by not explaining away all the humanoid aliens by convergent evolution. Humans are horribly adapted to any environment and therefore must adapt every environment to suit us. So, poor adaptation is a key to intelligence and innovation. However, any species that could not survive long enough to use tools and such would also fail to reach the level that humanity (and any presumed spacefaring species) has, or will have.
Huminoids would be just fit enough to survive, but weak enough to necessitate innovation.