North Korea launched at least two short-range ballistic missiles toward the Sea of Japan, South Korea’s military said Tuesday, a day after it fired off two strategic cruise missiles from a submarine for the first time.

Japanese Prime Minister Fumio Kishida said Tokyo was aware of the launches, and was collecting information. There were no reports of damage from the firing, he added.

Defense Minister Yasukazu Hamada said later Tuesday that neither of the missiles appeared to have landed within Japan's exclusive economic zone, which extends 200 nautical miles (370 kilometers) from its coast.