Troodons or Hypsilophodon
Troodon are already bipedal, warm-blooded, partially scaled, have grasping forearms, and there are plenty in the right size range. They were the most intelligent dinosaurs (not including birds), and large brains and large forward facing eyes. You will probably need an excuse for them to not be covered in feathers (or at least protofeathers) but it's not too difficult, modern birds still have scales after all, so so would they. All you need is a evolutionary pressure to revert. As a bonus you can have proto-feathers retained on the head or other places for a hair like effect. Ornithopods only have the most primitive from of feathers and are mostly covered in scales.
An alternative is any of the small ornithopods like Hypsilophodon they are not theropods and did not have feathers, although they may have had very primitive proto feathers. They are herbivores. You have a bipedal scaly dinosaur with a five-four fingered grasping hand. They have teeth and beaks at the same time as well as cheeks. basically dinosaurs give you a huge range of bipeds to pick from. I'll put an asterisk in front of the things that would not be true of ornithopods.
Now if you want upright bipedalism it's a bit tougher just becasue that has not evolved very often, and there would not be much benefit. But you could swing the body upright as seen in Therizinosaurs.
What might you see in the finished intelligent descendant:
*They will only have three fingers (two and thumb) dinosaurs lost them pretty early. Their wrists fold sideways, how noticeable this is would be up to you. Ornithopods have 4-5 fingers and the wrist works more like ours.
Their hips will be wider than a human of the same size, and the legs should point a little forward. The dinosaur pelvis is very different than a mammalian one. The more upright their posture the more it will look like a therizinosaurus pelvis, although narrower.
They will be digitigrade, with either three or four toes, basically pick the bird foot you want and use that. You could even have the same foot pattern as velociraptors just as troodons have.
How much of a snout they have is up to you, you could even include a beak if you want it certainly evolved often enough. The head should be bigger than a human the shape of the skull puts more bony support around the jaw muscles, although if birds are any indication they may get more intelligence out of a smaller brain.
the neck should be longer than a human and that means I expect the skull should be attached to the neck at the back of the skull not right underneath it at 90 degrees as in humans.
Dinosaurs and birds have very rigid torsos no flexing at the stomach for them. That's why the have more flexible necks.
Dinosaurs have worse hearing than humans but better vision, especially color vision, how that affects them I leave up to you.
Just don't look at the attempts at a "humanized troodon" it's awful and wasn't made with evolution or anatomy in mind. you'll get something more like D&D lizardfolk in rough body shape than an argonian. But you can decide how upright you want them to be, just keep in mind only mammals have buttocks.
*Oh one more thing, your animals will not chew, not really, they would have a crop and they would swallow stones (gastroliths) which will do the chewing for them. I could even see a market for hand cut angular stones for this purpose, you might even see wealthy individuals buying hard semi-precious gems like jade or corundum for this. I imagine regurgitating worn out (round and smooth) stones would like seen like any bodily function. Ornithopods on the other hand do chew and even have cheeks to facilitate it and they would not have the stones.
As AlexP pointed out any basal theropod or coelurosaur will work, if you go early enough you can get more than three fingers as well, any you won't have to worry about proto-feathers.