Hundreds braved rain in San Francisco on Saturday to protest the US's forcible removal of demonstrators who were invited to live in the Venezuelan Embassy in Washington DC by diplomats from the government of President Nicolas Maduro.

The protesters faced off with supporters of opposition leader Juan Guaido and tensions ran high, but no violence was used by either side.

Four activists, who held out for 37 days in bid to protect the building from the seizure by the US authorities, were arrested by police on Thursday.

A judge ordered their release the following day.

The US supports Venezuela's self-declared interim president Juan Guaido and wants his representatives to occupy the diplomatic mission.

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