Precisely, Colossal Cave Adventure, a game where you are dropped into an unknown world left to your own devices to explore. To wander about using your collected knowledge and proceed with picked up items. To fall off a pit because you took the risk to explore further. Literally, it is a game about an adventure- with the slightest hint of a story. And the puzzles don't lock the player out of a story, they're locked from knowledge and other items that might help on other parts of the journey later.
As for your rogue-like example, you are right. And it is the same as what I said earlier. Videogames are defined by their mechanics. Rogue-likes are like Rogue; in the term which, those games have mechanics similar to the one that gave birth to the genre. Games similar to Colossal Cave Adventure would mean they involve its mechanics, worldbuilding, and use of exploration to deliver that feeling of having an actual Adventure.
Determining that and using Colossal Cave Adventure as example, what I said is not far from the truth. An Adventure game is about having an adventure in a world limited by the player's knowledge, abilities, (I might perhaps add) possessions, or the game's mechanics.