**Three total**. Jenkins’ Guide tells about them.
1. _Nightfall_ (1990 novel) based on “Nightfall” (1941 short story).
2. _The Ugly Little Boy_ (1992 novel) based on “The Ugly Little Boy” (1958 short story).
3. _The Positronic Man_ (1993 novel) based on “The Bicentennial Man” (1976 short story)
We know there are only three of these from the Guide's description for _The Positronic Man_.
> This is a fitting final third to Silverberg’s novelizations of Asimov’s stories.
The descriptions of the other two books tells the same.