North Korea fired a ballistic missile on Friday towards the sea off its east coast, South Korea and Japan said, following missile launches in the past two weeks and after US President Donald Trump's renewed invitation for talks with Pyongyang.

South Korea's military said the unidentified missile was launched from an area in North Korea's northwest region near the Chinese border and fired towards the sea to the east.

The Japanese government also said North Korea had fired what could be a ballistic missile, which likely fell outside of Japan's exclusive economic zone.

Prime Minister Sanae Takaichi said there was no confirmed report of damage.

While visiting South Korea last week, Trump repeated his willingness to sit down with North Korean leader Kim Jong Un, raising expectations that th

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