Marco Rubio urged Venezuela to release the 322 prisoners Foro Penal says are still held, and discussed reforms meant to pave the way for credible elections.
US prosecutors are expected to bring new charges against former Venezuelan President Nicolás Maduro and his wife Cilia Flores over the torture of Americans.
Venezuelan authorities released a number of political prisoners on Saturday morning, rights group Foro Penal says, days after Delcy Rodríguez met Donald Trump.
Venezuela's interim president Delcy Rodríguez told the UN General Assembly that elections will be held but set no date, drawing criticism from the opposition.