KYIV, Ukraine—Ukrainian attack helicopters executed a low-flying predawn raid on Russian territory, a Russian official said, eluding air defenses to strike an oil depot as peace talks over the war were set to get under way.

Security-camera footage released by Russian state-owned media channel RIA Novosti appeared to show several missiles firing at the depot and setting off explosions. Vyacheslav Gladkov, the regional governor of Belgorod, where the attack took place, wrote on social media that two Ukrainian helicopters carried out the operation while flying at low altitude.

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