Poems that tells stories and particularly on heroes are known as?

Epic poems.

Explanation:

Epic poems are those literary form of poetry which describes the stories and especially the heroic deeds of the heroes. They provide a detailed narration of the journeys and stories of the achievements of the heroes.

Normally, epic poems are long narrative tales about the adventures and successful deeds of the heroes. But they also normally include the involvement of divine or godly figures in them, either helping the heroes in their quest or playing against them. There are many examples of such epic poetry, like the famous Homer's "Illiad" or "The Odyssey", "The Epic of Gilgamesh", "The Mahabharata" and a more modern works like Virgil's "The Aeneid" or Dante's "Divine Comedy".

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