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pic·a·resque:

ADJECTIVE: 1. Of or involving clever rogues or adventurers.  2. Of or relating to a genre of usually satiric prose fiction originating in Spain and depicting in realistic, often humorous detail the adventures of a roguish hero of low social degree living by his or her wits in a corrupt society.

NOUN: One that is picaresque.

ETYMOLOGY: French, from Spanish picaresco, from pícaro,

Online Etymological Dictionary

American Heritage Dictionary

Picaresque Novel at Wikipedia