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picaresque (adj.)

"pertaining to or dealing with rogues or knaves and their adventures," especially in literary productions, 1810, from Spanish picaresco "roguish," from picaro "rogue," a word of uncertain origin, possibly from picar "to pierce," from Vulgar Latin *piccare (see pike (n.2)). Originally in roman picaresque "rogue novel," the classic example being "Gil Blas."

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Definitions of picaresque from WordNet

picaresque (adj.)
involving clever rogues or adventurers especially as in a type of fiction;
waifs of the picaresque tradition
a picaresque hero
picaresque novels
From wordnet.princeton.edu