Seoul's chief nuclear envoy, Noh Kyu-duk, left, and the U.S. special representative for North Korea, Sung Kim / Yonhap

The top nuclear envoys of South Korea and the United States held talks in Seoul on Monday to discuss joint efforts to resume dialogue with North Korea amid renewed tensions with Pyongyang over the allies' ongoing military exercise.

The talks between Seoul's chief nuclear envoy, Noh Kyu-duk, and the U.S. special representative for North Korea, Sung Kim, came as Seoul and Washington have been exploring ways to encourage Pyongyang's return to dialogue through humanitarian initiatives and other means.

"I'm grateful to have this opportunity to engage you and other senior members of the Korean government at this important time," Kim said at the start of the talks.

"I think my visit here is another indication of Washington's determination to maintain the closest possible cooperation with the Republic of Korea government on all issues related to North Korea," he added.