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The latest point of contention between the two sides has been the entry of humanitarian aid into Venezuela -- Guaido and his supporters pushing to allowing it in, while Maduro and his security forces resisting the help from the U.S. and other countries.

Tons of food and medical supplies, such as medication, wheelchairs, crutches and bandages, have been stockpiled on the Colombian and Brazilian sides of the Venezuela border for weeks, awaiting safe passage into the country, including more than 200 tons in Cucuta, Colombia, alone.

For just as long, Maduro had ordered military personnel to block access into Venezuela and placed containers on the bridge to block the trucks from passing over. On Thursday, Maduro ordered the border crossings closed and blasted the U.S. for using aid to undermine him.

On the Simon Bolivar, Urena and Tienditas bridges, confrontations have continued since early Saturday. In some cases, both the military and Venezuelan citizens have thrown rocks.

\"PHOTO:
Ernesto Guzman/EPA via Shutterstock
PHOTO: Venezuelans stand in front of Venezuelan Army forces members at the Simon Bolivar bridge on the border with Venezuela, in Cucuta, Colombia, Feb. 23, 2019.
>

Amid the violence, some of the aid is finding its way across the various border crossings into Venezuela. Guaido said the first shipment of aid had passed through Venezuela's border with Brazil.

A couple hours later, he announced that the trucks carrying aid from Colombia had also crossed the Venezuelan border, but said Maduro’s “regime” was impeding their passage.

Meanwhile, Maduro called on Venezuelans to \"defend our independence.\"

\"Here, peace will triumph,\" he wrote in Spanish in a tweet.

Hoy #23Feb el pueblo se moviliza en Caracas y en todas las ciudades del país. Vamos todas y todos a las calles a defender nuestra independencia, con conciencia y alegría. No habrá guerra en la Patria de Bolívar y Chávez, aquí triunfará la paz. ¡Venezuela se Respeta! pic.twitter.com/ZKDthCCH9N

— Nicolás Maduro (@NicolasMaduro) February 23, 2019

Maduro also called Colombian President Ivan Duque “the devil” in a speech Saturday morning and announced that he was breaking off diplomatic ties with that country. He gave Colombian diplomats 24 hours to leave Venezuela.

The Colombian Foreign Minister released a statement afterward, saying that despite recognizing Guaido as the president, diplomats will leave Venezuela in order to “preserve life and their integrity.”

ABC News' Joshua Hoyos contributed to this report.

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