I know you can attach the AI to the biped, but the biped will still be the ordinary color, and the color cannot be set in the biped tags, I've tried. You only get different diffuses or whatever, I don't know much about shaders. What I do know is that it won't work, it will have messed up colors.
The blue is from the cubemap used by the Elites - it uses permutations. (see : forced shader permutation in the actor variant.) You can solve this by copying the elite gbxmodel, assigning it to your biped, and setting the shader permutation on the gbxmodel's shader list to the permutation ID of the cubemap you want.
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