Washington (CNN) Republican Sen. Marco Rubio said Sunday humanitarian aid "is going to get through" to Venezuela with or without the cooperation of Nicolas Maduro.

"The aid is going to get through," the Florida senator told CNN's Ana Cabrera on "Newsroom." "I think ultimately the question is whether it gets through in a way that he's cooperative with or in a way that he's not."

Rubio arrived Sunday at the Colombia-Venezuela border in Cucuta, Colombia, to meet with US officials and members of Venezuela's National Assembly.

On Saturday, a wave of US aid arrived at the border , which included locally purchased food kits, hygiene kits, medical supplies, ready-to-use supplementary foods and high-energy biscuits, according to USAID.

Maduro has resisted international aid coming into the country, saying, "We are not beggars." Maduro has also blocked a bridge between Colombia and Venezuela where aid was set to arrive.

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