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The two leaders went on to sign and issue a joint statement.
Read the full statement here.
Many world leaders approved of the summit, stressing the need for diplomacy, but some US lawmakers and commentators criticized the joint statement.
Senate Minority Leader Chuck Schumer said the meeting legitimized a "brutal and repressive" dictator, while House Minority Leader Nancy Pelosi said the joint statement granted concessions to Kim with only "vague promises" in return.
Conservative commentator Ben Shapiro also said the statement was "weak."