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Beijing and Seoul have underscored their firm objection to the development of nuclear weapons on the Korean Peninsula.

In a statement on Thursday, they agreed that all members of the Six-Party Talks should find consensus for resuming the talks, and the "spirit of mutual respect should be honored" to boost communications and address every parties' concerns.

"Both sides support meaningful dialogue through various approaches by heads of the six delegations," the statement said.

Amid lingering tension, the Democratic People's Republic of Korea said on Thursday that it would continue firing tactical missiles regardless of United States criticism.

On Wednesday, the DPRK fired two short-range projectiles into its east waters, a Defense Ministry official from the Republic of Korea said.

Beijing spoke highly of Seoul's proactive efforts in improving DPRK-ROK ties, and voiced support for their dialogue and reconciliatory cooperation, the statement said.

Seoul vowed commitment in "resolving humanitarian issues on the peninsula, infrastructure construction focused on livelihood and repairing national recognition".