Picaresque novels are a genre of fiction that follows the adventures of a roguish protagonist, often of low social class, who navigates through various societal settings, engaging in witty, satirical commentary about the world around them. This genre highlights themes of social critique, moral ambiguity, and the struggles of the individual against the constraints of society, often embodying a loose narrative structure that mirrors the unpredictable life of the picaro, or rogue.