We develop a unified theory of defect condensations for topological orders in all dimensions based on higher categories, higher algebras and higher representations. We show that condensing a $k$-codimensional topological defect $A$ in an $n$+1D (potentially anomalous) topological order $\mathsf C^{n+1}$ amounts to a $k$-step process. In the first step, we condense $A$ along one of the transversal directions, thus obtaining a $(k-1)$-codimensional defect $\Sigma A$, which can be further condensed as the second step, so on and so forth. In the $k$-th step, condensing $\Sigma^{k-1}A$ along the only transversal direction defines a phase transition to a new phase $\mathsf D^{n+1}$. Mathematically, a $k$-codimensional defect $A$ is condensable if it is equipped with the structure of a condensable $E_k$-algebra. In this case, $\Sigma A$ is naturally a condensable $E_{k-1}$-algebra, thus it can be further condensed. The condensed phase $\mathsf D^{n+1}$ consists of all deconfined topological defects in $\mathsf C^{n+1}$. A $k$-codimensional topological defect is deconfined if and only if it is equipped with a $k$-dimensional $A$-action, which defines an $E_k$-module over $A$. When $\mathsf C^{n+1}$ is anomaly-free, the same condensation can be alternatively defined by replacing the last two steps by a single step of condensing the $E_2$-algebra $\Sigma^{k-2}A$ directly. The condensed phase $\mathsf D^{n+1}$ is determined by the category of $E_2$-modules over $\Sigma^{k-2}A$. When $n=2$, this modified last step is precisely a usual anyon condensation in a 2+1D topological order. The proofs of the most mathematical results will appear in a mathematical companion of this paper. We also briefly discuss some generalizations and applications that naturally arise from our condensation theory such as higher Morita theory, factorization homology and the condensation theory of non-topological defects.
Comment: 120 pages. We are preparing the second version, in which more remarks, examples and references will be added. Comments are welcome