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Agrippa was the half-brother of Drusus Julius Caesar, the natural son of the Emperor Tiberius. He was the grandson of Gaius Asinius Pollio, the second son of Gaius Asinius Gallus and Vipsania Agrippina (after Gaius Asinius Pollio) Paul von Rohden speculates that he may have been the father of Marcus Asinius Marcellus, consul in 54.