The picaresque novel is characterized by an episodic narrative told from the first-person perspective of a roguish anti-hero who drifts between locations and social classes, exposing the hypocrisy of society. Key elements include a naïve narrator, episodic structure, flashbacks, a sympathetic but flawed protagonist, and social commentary left to the reader. Famous examples include Don Quixote, Candide, Moll Flanders, and The Adventures of Huckleberry Finn.