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The situation in Aleppo is dire, the UN says, and more than a million civilians need urgent aid.
On the sidelines of the G20, the two leaders met with their foreign ministers, before retiring to a one-to-one session.
At least 250,000 people have been killed in the five-year Syrian Civil War.
Previous peace efforts have failed prompting Moscow and Washington to move closer to cooperating on Syria.
BRICS are opposed to the ouster of Assad as sought by the US and its allies.
China recently hosted both Syria's foreign minister and opposition figures, though at different times.
Military cooperation in Syria dominated talks between Russian President Vladimir Putin and US Secretary of State John Kerry in Moscow. Kerry met Putin for three hours at the Kremlin and
Putin called for encouraging moderate Syrian rebels to disengage quickly from the al-Qaida-linked Nusra Front.
Turkey is part of the US-led coalition against Daesh.
Sergeant Andrey Timoshenkov prevented a suicide car bomber from reaching his target in Homs.
