The top diplomats from the four countries put forward new ideas to revive a failed push for a political transition in Syria that would end the country's civil war, Kerry said after yesterday's meeting.
But they remained deeply divided over the future of Syrian President Bashar Assad.
The follow-up telephone discussion between Lavrov and Kerry was initiated by Kerry, the Russian foreign ministry said.
Separately, Lavrov said today that Russia was ready to support the Free Syrian Army in its fight against the Islamic State group.
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The Free Syrian Army is the main Western-backed opposition group fighting Assad.
"We are ready to include the patriotic opposition, among them the Free Syrian Army, to support them from the air," he said in an interview aired today on state television channel Rossiya-1.
He said the U.S. Was refusing to coordinate their anti-terrorist campaign in Syria, calling it a "big mistake." "We are ready for such coordination as thoroughly as possible," he said.
Syria is in its fifth year of a civil war that has killed hundreds of thousands, spurred a massive refugee crisis in Europe and led to the emergence of the Islamic State group and Russia's direct military intervention.
Russia says it is targeting IS and other terrorists in Syria, but most of the Russian airstrikes have focused on areas where the militants do not have an active presence.