Venezuela's interior minister on Wednesday said the exit of Venezuelan opposition members from Argentina's diplomatic residence in Caracas was negotiated, after the opposition said the operation took the government by surprise.

U.S. Secretary of State Marco Rubio did not provide details of the group's movements to reach the U.S., but he described the event as a rescue operation.

Venezuela's opposition successfully carried out a surprise operation to remove five members staying at Argentina's diplomatic residence in Caracas. Their move was backed by the U.S. and Argentina. The Venezuelan government has not yet commented.