The full text of the agreement signed by US President Donald Trump and North Korean leader Kim Jong-un has been released.
The two world leaders met in person for the first time on Tuesday (local time) in an historic summit in Singapore.
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At the end of the meeting they signed a document establishing new relations between their countries and committing to the denuclearisation of the Korean Peninsula.
However the agreement is not binding, and the promise of denuclearisation was a rehash of the Panmunjom Declaration signed by Mr Kim and South Korean president Moon Jae-in in April.
The four agreements stated in the document are:
1. The United States and the DPRK commit to establish new US-DPRK relations in accordance with the desire of the peoples of the two countries for peace and prosperity.
2. The United States and the DPRK will join their efforts to build a lasting and stable peace regime on the Korean Peninsula.
3. Reaffirming the April 27, 2018 Panmunjom Declaration, the DPRK commits to work towards complete denuclearisation of the Korean Peninsula.
4. The United States and the DPRK commit to recovering POW/MIA remains, including the immediate repatriation of those already identified.
At a press conference after the meeting, Mr Trump said that the late North Korea detainee Otto Warmbier "did not die in vain" because his death led to the US-North Korea talks.
Mr Trump told media that he had spoken to Mr Kim on the phone before.
He said he intends to visit Pyongyang in the future, and intends to invite Mr Kim to the White House at the "appropriate time".