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Sempronius Asellio (flourished c. 158 BC – c. 91 BC) was an early Roman historian and one of the first writers of historiographic work in Latin. He was a military tribune of P. Scipio Aemilianus Africanus at the siege of Numantia in Hispania in 134 BC. Later he joined the circle of writers centred on Scipio Aemilianus. Asellio wrote the history of the events in which he was engaged, and thus preceded Caesar in his more famous accounts of his military campaigns.