The officials, speaking on condition of anonymity, said North Korea would hand over the remains to United Nations Command in South Korea, and they would then be transferred to Hickam Air Force Base in Hawaii.
Kim and the US President agreed on a vague set of objectives aimed at bringing stability to the Korean Peninsula, while Trump also pledged to end joint US-South Korea military drills - a move which would bolster China's position in the region. Pompeo would go on to make security assurances to North Korea and wave before them the prospect of US investment in exchange for denuclearizing, which has yet to materialize. Xi offered high praise to the North Korean leader on Tuesday for the "positive outcome" of last week's summit with Trump.
North Korean state media had not mentioned Mr Kim's visit by early evening.
Mattis also said he had no update on when North Korea might return additional remains of USA servicemen killed during the Korean War, something Kim Jong Un pledged as part of the agreement in Singapore.
China has encouraged Kim's shift toward economic development and has touted the prospects of more trade and investment if North Korea makes progress in talks on abandoning its nuclear weapons and long-range missile programs.
6 of 9 North Korean soldiers stand guard at the truce village of Panmunjom at the Demilitarized Zone (DMZ) which separates the two Koreas in Panmunjom, North Korea, Wednesday, June 20, 2018.
Denmark, who left the Defense Department in 2017 and is now director of the Asia Program at the Woodrow Wilson International Center for Scholars, said he has yet to see any indication that Kim wants to pursue denuclearization or disarmament, and instead appears to be exclusively interested in engaging the world as a nuclear power.
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The denuclearization is expected to take years, with U.S. officials saying they expect "major progress" in the next two and a half years.
Suga noted, however, that North Korea has said it would not conduct tests and Kim had promised complete denuclearization. "I know that we're engaged on it".
Xi Jinping, general secretary of the Central Committee of the Communist Party of China (CPC) and Chinese president, met with Kim Jong Un, chairman of the Workers' Party of Korea (WPK) and chairman of the State Affairs Commission of the Democratic People's Republic of Korea (DPRK), at the Diaoyutai State Guesthouse in Beijing on Wednesday.
North Korea typically holds mass rallies to promote anti-U.S. sentiment and also releases new stamps on June 25 marking the beginning of "Struggle Against US Imperialism Month", which lasts until July 27.
Another element of the Singapore joint statement was a North Korean promise to hand over remains of United States soldiers, marines and airmen still unaccounted for since the 1950-53 Korean war.
"Not only the Chinese government, but also the whole Chinese society can not accept the US trying to blackmail China", the state-controlled Global Times newspaper said in an editorial Tuesday.