This file photo, taken June 21, shows South Korea's chief nuclear negotiator, Noh Kyu-duk, right, and his Japanese counterpart, Takehiro Funakoshi, posing before their talks in Seoul. Yonhap

The top nuclear envoys of South Korea and Japan held talks in Tokyo on Monday to discuss cooperation in resuming dialogue with North Korea, amid renewed tensions caused by Pyongyang's recent cruise missile launches.

The talks between Seoul's chief nuclear negotiator, Noh Kyu-duk, and his Japanese counterpart, Takehiro Funakoshi, came on the eve of their trilateral meeting with the U.S. special representative for the North, Sung Kim.

Earlier in the day, the North's official Korean Central News Agency reported that the country test-fired a new type of long-range cruise missile Saturday and Sunday in a low-intensity provocation amid stalled nuclear talks with the United States.

"I believe through such dialogue and consultations, the understanding of each other's position has deepened," Noh told Yonhap News Agency, noting the two sides discussed humanitarian assistance to the North.

Seoul and Washington have been discussing humanitarian support for Pyongyang in various areas, including public health, quarantine, sanitation and safe water, as part of efforts to encourage its return to dialogue.