Talks, mediated by Norway and hosted by Mexico, have a seven-point agenda including easing sanctions, political rights and electoral guarantees – but not the departure of President Maduro.
The mayoral and gubernatorial elections will be the first overseen by the new council, named earlier this month, which includes three members linked to President Nicolas Maduro's ruling Socialist Party and two members close to the opposition.
Guaido boycotted the December 6 polls, losing the limited institutional legitimacy he had and leaving foreign governments backing his claim to the presidency in a difficult position.
Electoral board president says 67.6 percent of 5.2 million votes cast in Sunday's election were for pro-Maduro candidates with only 31 percent voter turnout.
An opposition coalition led by US-backed politician Juan Guaido is boycotting the vote and will hold a referendum over several days after the election.
The Court of Appeals has set aside July's High Court judgement, which found that Britain's recognition of opposition leader Juan Guaido as "constitutional interim president of Venezuela" was conclusive.
The speech marks Nicolas Maduro’s return to the world stage after his absence last year as political tumult embroiled the country.
Opposition leader Juan Guaido urges military leadership to join a "unity pact" of opposition forces to block the holding of December 6 legislative elections in a bid to pressurise President Nicolas Maduro.
President Nicolas Maduro also pardoned dozens of lawmakers of opposition leader Juan Guaido who have been accused of conspiring against his government, as the country heads toward parliamentary elections scheduled for December.
The two former US special forces soldiers have been sentenced to 20 years in prison.
A judge in London has said the British government had "unequivocally recognised" opposition leader Juan Guaido as Venezuela's president, in a battle over gold bullion held at the Bank of England.
Candidates will contest an expanded number of seats in the new legislature, which will increase from 167 to 277, said Indira Alfonzo, the president of the recently appointed National Electoral Council announced.
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