North Korea fires missiles amid tensions with US over nuclear capabilities and troop movements

A US nuclear submarine visited South Korea for the first time in decades as the two allies held talks on deterring North Korean threats.
North Korea launched two short-range ballistic missiles into the sea after the submarine's arrival.
The missile tests follow North Korea's recent launch of an intercontinental ballistic missile and threats to shoot down US aircraft.
A US soldier crossed into North Korean territory and was taken into custody.
The US and allies said North Korea's nuclear threats would be met with a strong response but expressed willingness for dialogue.