"In response to the mediation of the Kingdom of Norway, (the opposition) will attend a meeting with representatives of the usurper regime in Barbados, to establish a negotiation on the end of the dictatorship", Guaido said in a statement on Sunday.
Opposition leader Juan Guaido, who has been recognized as Venezuela's rightful leader by more than 50 governments, has said any talks must lead to a sustained solution to the crisis and can not be used by the Socialist Party to buy time.
"Today [Monday], on July 8, the process of dialogue with the Venezuelan opposition, with the participation of the Norwegian government, started on the island of Barbados".
Maduro's government suggested talks would resume this week.
Opposition Leader Juan Guaido, who has declared himself interim president, is seeking the removal of President Nicolas Maduro from office.
Oil-rich Venezuela has been ravaged by five years of recession marked by shortages of food, medicine and other basic necessities, and the economic woes have been exacerbated by the political crisis.
Since Juan Guaido declared himself interim president of Venezuela on January 23, the US and about 50 of its allies recognize Guaido as the legitimate leader of Venezuela.
The suspicious death of retired naval officer Rafael Acosta Arevalo sparked global condemnation.
The talks will be held in the Caribbean nation of Barbados later this week.
Guaido said Sunday he wants the talks to lead them towards Maduro's departure from the presidency he has held since 2013 to a transitional government, and then "free elections with global observers".
Maduro blames United States sanctions, while Guaido says it's the result of corruption and years of chronic mismanagement.
It a statement, the Ministry of Foreign Affairs said that the parties would meet to continue work on finding a negotiated and constitutional solution, "as quickly as possible".
Guaido wants them to lead towards Maduro's departure from the presidency he has held since 2013, to a transitional government, and then "free elections with global observers".
However, the Venezuelan state institutions as well as the military have been putting their weight behind the elected leader Maduro.
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