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Originally Posted by Blade_Lord
Avenger is an anti-hero and so is rider so how can they be summoned from the throne of heroes?
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Because the Holy Grail, like the Magic Association, does not make the distinction between good or evil when choosing 'heroes'.
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Originally Posted by Type-Moon Wikia
Heroes are those who have achieved greatness. Regardless of the authenticity, they are supermen whose feats are firmly believed in and have been transmitted in legends.
It is to be noted that this implies a Heroic Spirit doesn't necessarily follow the common understanding of the word "hero": Heroic Spirits can be evil-aligned as long as they are legendary. Hence, Gilles de Rais, Medusa and Medea are indeed Heroic Spirits.
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http://typemoon.wikia.com/wiki/Heroic_Spirit