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At a party congress gathering in Pyongyang, Kim Jong Un acknowledged that policies of the past five years had been an abject failure.
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In an exclusive interview with NPR, former Ambassador John Bolton criticized his ex-boss' strategy, saying "there's no serious chance" North Korea will voluntarily give up its nuclear weapons program.
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The ballistic missile traveled about 280 miles, landing in the Sea of Japan. If capable of submarine launch it would represent a significant advance in North Korea's missile program.
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The test of short-range missiles — one of which may be a new design — is seen as a pressure tactic on Washington as Pyongyang warns against a resumption of U.S.-South Korea military exercises.
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Whether the symbolism of President Trump stepping into North Korea carries with it the promise of change, or little more than dramatic optics, remains the subject of debate.
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"Kim and his evil regime are responsible for the death of our son Otto," the Warmbiers wrote. Trump tweeted on Friday that he holds North Korea responsible, but he made no mention of Kim.
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North Korea's foreign minister gave an account of the country's demands for a deal that differed from Trump's account and said Pyongyang would be unwilling to change its offer.
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Talks between President Trump and North Korean leader Kim Jong Un ended early Thursday. Trump cited continued sanctions against North Korea as a sticking point.
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Chinese President Xi Jinping invited Kim for the four-day visit. The two leaders could use the visit to coordinate ahead of a second summit between the U.S. and North Korea.
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Despite Pyongyang's pledge to denuclearize, The Washington Post reports that U.S. satellite imagery shows it is producing more ballistic missiles.