The latest launch came after North Korean leader Kim Jong-un vowed to further boost the country's military capability at a high-profile ruling party conference last week.
In a long-anticipated bilateral event, the two sides discussing cooperation on fighting covid-19, boosting economic ties and enhancing cultural ties.
Earlier on Tuesday, two US think tanks and South Korea's Yonhap News Agency reported that North Korea had restored part of a missile launch site it began to dismantle after pledging to do so in the first summit with Trump last year.
US President Donald Trump said after a top North Korean envoy that he and Kim Jong-un will probably meet around the end of February but did not say exactly when and where the summit would take place.
North Korean leader Kim Jong-un and Chinese President Xi Jinping held a summit this week that reasserted China's role in the denuclearisation process ahead of an expected second summit between Kim and his US counterpart Donald Trump
North's leader Kim Jong-un says he hopes to extend his high-stakes nuclear summitry with US President Donald Trump into 2019, but also warns Washington not to test Pyongyang's patience with sanctions and pressure.
The statement comes amid a deadlock in nuclear negotiations between the United States and North Korea.
US Secretary of State Mike Pompeo said that he and North Korean leader Kim Jong-un made unspecified progress on Sunday toward an agreement for the North to give up its nuclear weapons.
While both sides appear eager to being negotiations, they suspect each others' intentions considering their long acrimonious history.
The two countries are in dispute over a chain of Pacific islands and as a result have still not formally ended WWII. Moscow suggested a treaty without preconditions. But Tokyo later said it still wants the islands back first.
US President Donald Trump received a "very positive" letter from North Korean leader Kim Jong-un seeking a follow-up meeting after their historic summit in Singapore, the White House said.
North Korea's Kim Jong-un reconfirms determination to completely denuclearise the peninsula, South's national security adviser says after meeting the leader in Pyongyang.
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