The summit's venue is the Capella hotel on Sentosa, a resort island off Singapore's port with luxury hotels, a Universal Studios theme park and man-made beaches.
"It's hospitality that we would have offered them, and as Chairman Kim said yesterday, he would have liked to have come to Singapore anyway, with or without the summit", Dr Balakrishnan said in an interview with the BBC. Last week, Trump told reporters that Rodman had not been invited to the summit, but praised him as a "nice guy" and great rebounder.
It marked the first time in history that a North Korean leader was meeting with a sitting US president.
From there, the two will engage in more talks with advisers joining them through a working lunch. Really very positive, I think better than anybody could've expected. "Many people in the world will think of this as a scene from a fantasy...science fiction movie", Kim Jong-un was heard telling Donald Trump.
Trump appeared optimistic about the talks and said Kim was a "worthy negotiator" and talented man who "loves his country very much".
"Very good, very good. We are here after overcoming all these", he said.
In a statement to the media, the MFA said the two leaders had a good discussion on a wide range of regional and global developments.
The dollar jumped to a 3-week top on Tuesday and Asian shares rose on the news.
The two leaders exchanged broad smiles and warm thank-yous when they met at the Istana. The North Korean autocrat's every move will be followed by 3,000 journalists up until he shakes hands with Trump.
President Trump and Kim Jong Un signed a document Tuesday asserting that the United States president would provide unspecified "security guarantees" to Kim in exchange for the North Korean leader's "unwavering commitment to complete denuclearization of the Korean peninsula".
Trump wants the complete, verifiable and irreversible dismantling of North Korea's nuclear weapons program.
With Trump, however, Rodman said, things changed because he understood that people of North Korea have a heart and a soul.