Timeline: North Korea's tests and summits over recent years

People watch a TV broadcasting file footage of a news report on North Korea firing what appeared to be a pair of ballistic missiles off its east coast, in Seoul, South Korea, September 15, 2021. REUTERS/Kim Hong-Ji

(Reuters) - North Korea launched two ballistic missiles into the sea near Japan, South Korea's military said on Wednesday, ratcheting up tensions just days after testing a long-range cruise missile.

Following are key moments in North Korea's missile tests and its foreign relations, in particular with the United States, over the past few years.