"Following the initial greeting, President Trump and Chairman Kim will participate in a one-on-one meeting, with translators only, an expanded bilateral meeting, and a working lunch", White House Press Secretary Sarah Sanders said.
Trump made the comments as he and Kim walked together along balcony as they headed to a larger meeting with aides.
"We're here, overcoming everything", the reclusive Kim told Trump, adding that the two countries overcame many obstacles on their way forward.
Rodman claimed that several officials, including former President Barack Obama, brushed him off and did not take his trips to North Korea seriously: "Obama didn't even give me the time of day", Rodman said.
DPRK stands for North Korea's formal name, the Democratic People's Republic of Korea.
"Meetings between staffs and representatives are going well and quickly....but in the end, that doesn't matter".
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In a meeting that seemed unthinkable just months ago, the leaders met at a Singapore island resort, shaking hands warmly in front of a row of alternating US and North Korean flags.
Pompeo stressed that the Trump administration would only accept complete denuclearisation of the North..
The meeting is set to take place Tuesday morning (Monday evening Washington time), when the leaders will talk one-on-one.
Talks proceeded at multiple levels, including logistical discussions to allay Kim's fears of being deposed while traveling further afield than he ever has before as the country's leader. That uncertainty appeared to carry over to the summit itself, where a "tight pool" was designated to witness Trump's and Kim's initial meeting.
North Korea granted such access as part of a Clinton-era diplomatic deal and agreed to freeze its nuclear material production.
Less than a year ago, Trump was threatening "fire and fury" against Kim, who in turn scorned the American president as a "mentally deranged USA dotard". The "madman" comment also came after a historic televised statement from Kim, in which the North Korean leader called Trump a "mentally deranged US dotard".
The White House later said discussions with the North had moved "more quickly than expected" and that Trump would leave Singapore on Tuesday night after the summit, 15 hours earlier than planned. Worldwide inspections and verification of such a deal would require more openness from the North, typically allergic to outside scrutiny.
George Lopez, a professor at the Kroc Institute for International Peace Studies at the University of Notre Dame, said, "Each leader will proclaim to their national audiences the summit was a success", but they may see the details differently.