Venezuelan President Nicolas Maduro said on Tuesday he was committed to talks with the opposition to resolve a political crisis, hours after opposition leader Juan Guaido said there would "never" be a good time to negotiate with Maduro's government.

Guaido and Maduro had both sent representatives to Oslo in May for discussions that Norway's government had encouraged, but they were unable to reach any agreement. On Saturday, people familiar with the negotiations said that talks would restart this week.

But Guaido dismissed to hold another round of dialogue. "It is never going to be a good moment to mediate... with kidnappers, human rights violators and a dictatorship," he told reporters at the opposition-controlled National Assembly legislature, which he heads.

Few details have been released about the talks in Oslo between representatives of Maduro and Guaido, who invoked Venezuela's constitution to assume a rival presidency in January, denouncing Maduro's May 2018 re-election as illegitimate.

In an address on state television Tuesday evening, Maduro said his government was "committed... to the Norway dialogue" and that the talks aimed to create "a permanent table for dialogue and solutions."

"That process is going well," he said. "There will be good news in the coming weeks about how well the contact, negotiation and pre-agreement processes are going."