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From our dictionary:

(pik"u-resk'), adj.
1. pertaining to, characteristic of, or characterized by a form of prose fiction, originally developed in Spain, in which the adventures of an engagingly roguish hero are described in a series of usually humorous or satiric episodes that often depict, in realistic detail, the everyday life of the common people: picaresque novel; picaresque hero.
2. of, pertaining to, or resembling rogues.

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