After a one-day trip to North Korea, Japanese Prime Minister Junichiro Koizumi is back in Tokyo.

In a diplomatic breakthrough, Koizumi brought back with him five of the eight family members of former Japanese abductees on Saturday night.

But three family members, Robert Jenkins, the American husband of one of the former abductees, Hitomi Soga, and their two daughters, were unable to come to Tokyo.

Jenkins is a former U.S. soldier who allegedly deserted to North Korea in 1965 during his military service in South Korea. The former Army sergeant would face court martial if he came to Japan. The U.S. government is reportedly refusing Tokyo's request to pardon him on humanitarian grounds.

The release of the abductees' families came after a 90-minute summit between North Korean leader Kim Jong-il and Japanese Prime Minister Junichiro Koizumi - their second in less than two years.

In a news conference before returning to Tokyo, Koizumi announced that the two countries have agreed to resume talks on normalizing diplomatic ties.

Koizumi said the North Korean leader promised to seek a peaceful resolution to his nation's nuclear standoff through six-party talks, and to continue Pyongyang's moratorium on missile testing.

Koizumi also said Japan would provide 250 thousand tons of food and ten million dollars worth of medical supplies to North Korea through a U.N. agency within two months.

The Japanese leader earlier said he hopes to set up diplomatic relations with Pyongyang during his term in office.