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In an interview with NPR, the White House chief of staff also praised the president's decision to pull out of the Iran nuclear deal and said Trump's eyes are "wide open" on North Korea.
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The dramatic release of the trio, two who were arrested just over a year ago and the third held since 2015, comes amid a thaw in relations between Washington and Pyongyang.
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South Korean President Moon Jae-in's remark follows Friday's historic summit with North Korea's Kim Jong Un, which produced an apparent breakthrough.
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North Korea's leader told South Korea's president he would invite security experts and journalists to the site. South Korea's president also spoke with President Trump about a U.S.-North Korea summit.
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North Korea's Kim Jong Un and South Korea's Moon Jae-in met at the border village of Panmunjom for the first inter-Koreas summit in more than a decade.
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The stage is set for a historic meeting between leaders of the rival Koreas inside the Demilitarized Zone. The frenzied preparations have left very little to chance.
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North Korean Leader Kim Jong Un asked President Trump to talks, in an invitation conveyed by South Korean officials. The White House press secretary said the president will accept the invitation.
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President Trump should appoint a senior envoy, backed by a strong interagency team, to represent him in talks with the North Korean government.
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The vice president made the remarks on a visit to Japan before heading to South Korea to attend the opening ceremony of the Winter Olympics in Pyeongchang.
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After a war of words between President Trump and North Korea's Kim Jong Un over the ability to launch nuclear attacks from their desks, orders rose for pills to protect against radiation.
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After trading bellicose barbs with North Korea throughout 2017, the U.S. heads into 2018 with an increasingly capable foe and no clear diplomatic exit ramps to temper the tensions.
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The Department of the Treasury has identified two individuals, allegedly key figures in North Korea's ballistic missile development program, as targets for new sanctions.