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Malaysia had been critical of China's South China Sea position but has not been excessively outspoken recently following Belt and Road Initiative deal
Vietnam and China have for years been embroiled in a dispute over the potentially energy-rich stretch of waters.
Philippine President Rodrigo Duterte will meet Chinese counterpart Xi Jinping soon to discuss a 2016 arbitration case over the South China Sea.
Malaysian Foreign Minister said that ASEAN needs to be solid to be able to negotiate with China regarding South China Sea.
Host country Thailand deployed about 10,000 security forces around Bangkok for ASEAN summit.
Vietnam is seeking clarification of how a fishing boat came to sink this week in the contested South China Sea.