Question: Why did Selvig free Thor, since he doesn't like him at that point?
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Answer: Most likely because Jane convinced him to.
Friso94
Also Selvig and Jane want to understand the Einstein Rosen bridge. They think Thor might be helpful and they don't trust SHIELD. And Selvig is starting to think there is a connection between the weird science stuff and the Norse tales from his childhood.
I don't think so.
Jane convinced Erik that Thor likely had some knowledge of the phenomenon they had seen. The photos they recorded showed him within the Bifrost anomaly.