You can add a file to your assets like this:
{% javascripts
'@YourBundle/Resources/public/js/*'
'@AnotherBundle/Resources/public/js/some.js'
'@YourBundle/Resources/public/vendor/someother.js'
output="filename.js"
%}
<script src="{{ asset_url }}"></script>
{% endjavascripts %}
In order to have pre-defined asset collections which you can then use as for example '@js_default' you can add these in your assetic.assets
configuration as suggested in my answer here.