Near-perigee imaging observations of nearby radio galaxies with RadioAstron space-VLBI telescope allow us to probe the jet formation region of AGN at unprecedented resolution. RadioAstron images of radio galaxy 3C84 at the center of the Perseus cluster have revealed a strong collimation of its edge-brightened jet at 300 to 400 Schwarzschild radii (r_s) from the black hole and an almost cylindrical collimation profile up to about 8000 r_s. This differs markedly from the parabolic collimation profile of M87 and is likely due to confinement by external medium with a very shallow pressure profile. The jet power in 3C84 has significantly increased since the early 2000s, and this "re-started" jet is apparently pushing through a rather dense external medium, which is manifested by a sub-luminally moving head of the jet at about 1 parsec from the core. The 5GHz RadioAstron image shows a low-intensity emission region surrounding the re-started jet and this is perhaps the first evidence for a "mini-cocoon" structure in parsec scales. Another nearby radio galaxy that has been successfully imaged with RadioAstron is M87. The 1.6GHz image shows for the first time a detailed internal structure of the acceleration and collimation zone in an AGN jet with a multi-layered structure together with helical threads inside the jet. This provides an important observational comparison case for the simulations of black hole jets.