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Thousands of opposition activists headed out into the streets of Venezuela on Tuesday to demand the military allow in desperately-needed aid, with President Nicolas Maduro's supporters due to rally against "imperialist intervention".

Incumbent Venezuelan President Nicolas Maduro, in turn, blasted the move as a coup staged by Washington and said he was severing diplomatic ties with the US.

While the United Nations, the government in Caracas and many Latin American and Caribbean countries are committed to dialogue, the Venezuelan opposition led by Juan Guaido -head of a parliament in contempt and who was self-declared "interim president"- rejects that option and seeks US support.

He also announced a second collection point for the aid across the border in Brazil. The US and Colombia sent an aid convoy to the Colombian border town of Cucuta last week, where it is being held in warehouses.

With the USA seen as considering military action only as a last resort, Guaido is trying to regain momentum with an effort this week to move USA emergency food and medicine into Venezuela despite Maduro's pledge to block it.

They've been reporting on how the country is in the middle of food shortages, power cuts and widespread protests, with no clarity in sight on the political situation.

"Get out Donald Trump, get out his threats!", Maduro said. Guaido did not specify from where aid would enter, but said the opposition would go in a convoy to safeguard the supplies.

Guaido vows to deliver it to Venezuelans who need it, but his strategy for outmanoeuvring Maduro remains unclear. The opposition says the US -backed aid including food and medicine is needed due to Maduro's mishandling of the once-buoyant OPEC nation's economy, and they are working to get it delivered. "We have spoken very clearly and we are on a road of hope, of change that is getting closer", he said.

The militia is a civilian force founded in 2008 to supplement the armed forces.

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The announcement earned immediate praise from US Ambassador to Israel David Friedman, who hailed the Jewish state for "standing with the people of Venezuela and the forces of freedom and democracy".

Guaido asked supporters to participate in a mass mobilization, saying it may be up to the people to bring the aid into the country.

Juan Guaidó is touring Venezuela this week, meeting with journalists and citizens.

"First, we want to reconstruct the electoral branch and an electoral mechanism that will be trustworthy, where not the slightest doubt exists that the will of the voters will be reflected in the results", he added.

Amoroso alleged Guaido has "received money from worldwide entities without any type of justification". "We are being used to keep them in power".

Pope Francis has said he would be prepared to mediate between the rival leaders but Guaido has rejected negotiations with Maduro, believing he would use them to buy time.

Maduro is refusing to step down or call for a new election, accusing the USA of orchestrating a coup attempt.

On Monday, Guaido posted a video on Twitter showing himself and his wife making phone calls urging people to join a volunteer force by registering on a website and calling on them to return to the streets in protest Tuesday.

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