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A Foreign Office spokesman dismissed the concerns over Sri Lanka and insisted that it had "constantly pursued progress" on the country's rights record.
The MPs' report said in 2009 the Foreign and Commonwealth Office (FCO) objected to a proposal for Sri Lanka to host 2011's Commonwealth Heads of Government Meeting (CHOGM) but did not attempt to block this year's event or insist it should be conditional on improvements in human rights.
The committee has previously suggested Mr Cameron should "publicly state his unwillingness to attend" unless he receives evidence of improving political and human rights.
The Government was too "timid" in its approach to allowing a prestigious Commonwealth summit to take place in Sri Lanka next month despite concerns over human rights in the country, MPs have said.
The cross-party group said the Foreign and Commonwealth Office (FCO) should have taken a "more robust stance" over the Commonwealth Heads of Government Meeting (CHOGM), which takes place in Colombo and will be attended by the Prime Minister.
The Foreign Affairs Select Committee said David Cameron should seek assurances from the authorities in Sri Lanka that anyone who raises human rights concerns with him at the meeting in Colombo will not face reprisals from the security forces.
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