The training Wednesday came hours after North Korea's latest missile test failed, according to military officials and media reports.
IAEA Director General Yukiya Amano says North Korea has doubled the size of its nuclear operation.
The U.S. and South Korea began their annual drills earlier this month as tensions with the North increased.
The two superpowers each announced increases in military spending, but many believe a race isn't underway.
The U.S. is still relying on cyberattacks to hamper North Korea’s plans for intercontinental ballistic missiles.
The U.S. had previously resisted sending the armored vehicles four years ago but started deploying them in December.
The president said he wanted to build the largest nuclear weapons stockpile in the world, surpassing the eight other countries believed to possess such weapons of mass destruction.
The nation's defense minister said nuclear weapons are a priority still, but that more conventional weapons have become a major focus.
President Donald Trump's security briefing on the North Korea missile launch was documented by a member of Mar-a-Lago who witnessed the event. The member also took pictures with a man he claims was carrying the nuclear football.
Russian Defense Minister Sergei Shoigu also said the country would maintain its existing level of military but it did not want to be dragged into a new arms race.
North Korea now has enough plutonium for 10 nuclear warheads, a South Korean report found.
Defense Secretary Ash Carter said Tuesday the U.S. military wouldn’t destroy a North Korean missile as long as it wasn’t a threat to the country.
Trump ordered the head of the NNSA and his deputy to leave their posts on Jan. 20, leaving the agency that secures U.S. nuclear weapons, without a leader.
Kim was honored publicly on his birthday only once so far when former NBA star Dennis Rodman dedicated a special game to his “best friend” and sang “Happy birthday” for the North Korean leader.
On Thursday, the president-elect alarmed nonproliferation experts when he called for the U.S. to "greatly strengthen and expand its nuclear capability."
The Russian president also called for the country’s military to develop missiles that can penetrate any missile-defense system.
A new report by seismologists from Columbia University's Lamont-Doherty Earth Observatory concluded that the tremors were “much more like that of an earthquake than an explosion.”
Former Texas Gov. Rick Perry once called Donald Trump a "cancer on conservatism," and "a barking carnival act."
Ri Sol Ju was last seen in public on March 28 this year and her absence had sparked rumors of pregnancy while some said she may have had a serious falling out with the North Korean leader.
The new restrictions largely target coal, Pyongyang’s single-largest export item, and will cut the reclusive East Asian country’s earnings by at least $800 million.
In an ironic twist, President-elect Donald Trump may appoint the former Texas governor as head of a department Perry said he would abolish during the 2011 election race.
Thursday's talks in Tokyo mark the fifth such meeting between the three nations, the first of which was held in Washington in April 2015.