The meeting, long sought by Pyongyang, will be the first ever between a serving U.S. president and a North Korean leader, and will focus on the nuclear bombs and ballistic missiles the North has spent decades developing. North Korea also a year ago detonated a purported thermonuclear warhead and flight-tested three developmental ICBMs that demonstrated potential range to reach mainland American cities.
Dismantling North Korea's nuclear program will be a lengthy process, said Catherine Dill, a senior research associate at the James Martin Center for Nonproliferation Studies.
But some argue North Korea didn't go any further than previous promises.
The four-point document signed by the leaders on Tuesday would see North Korea work towards a "complete denuclearization of the Korean peninsula" while Donald Trump promised to halt military drills with South Korea.
At a news conference after the meeting, Mr Trump said he would lift sanctions against North Korea once "nukes are no longer a factor".
"As the whole world is swept in huge interest in and excitement about the historic, unprecedented summit, Kim left his hotel on the night of 12th to return home after successfully wrapping up the North Korea-U.S. summit in Singapore", Korean Central TV reported. President Obama said that North Korea was our biggest and most risky problem. "No longer - sleep well tonight!" the President wrote.
In a series of tweets, Trump sought to take political credit for the summit but risked undermining the USA strategy in the region. The words came back to haunt the administration, as the war dragged on throughout Bush's presidency.
Bridling at a question from a reporter who asked why the summit document didn't mention complete and verifiable denuclearization, Pompeo said, "I find that question insulting and ridiculous and frankly ludicrous. That will take a while".
The two clasped hands for a long while Tuesday as they posed for photos in front of a row of United States and North Korean flags.
That didn't stop the president from talking up the outcome of what was the first meeting between a USA and North Korean leader in six decades of hostility.
The US State Department announced last week that Pompeo would arrive in Beijing on Thursday after heading first to Seoul for meetings with senior South Korean and Japanese officials.
"In coordination with our ROK [South Korean] partners, we will continue with our current military posture until we receive updated guidance from the Department of Defense and/or Indo-Pacific Command", the U.S. Forces-Korea statement said. I don't think they are recording it.
Pompeo is expected to meet South Korea's Foreign Minister Kang Kyung-wha and Japan's Foreign Minister Taro Kono while he is in Seoul. Trump's total sidelining of North Korea's infamous human rights abuses has also caused concern.
Trump's comment on suspending joint exercises with Seoul have caught South Korea's Defense Ministry and US forces in Korea off guard.
The U.S. has stationed combat troops in South Korea since the end of the Korean War and has used them in a variety of drills. The next scheduled major exercise, involving tens of thousands of troops, normally is held in August.
US Defence Secretary Jim Mattis's chief spokeswoman, Dana W White, told reporters he was "in full alignment" with Mr Trump.
In Japan, the prospect of canceled U.S.
On Monday, Mattis told Pentagon reporters that there had been no discussions on future withdrawals of USA troops from Korea.
Washington has described the drills as defensive in nature, but Pyongyang says they are a rehearsal for invasion and has long called for them to end.