Sharepoint - Retrieve toplevel site's subsites using REST _api

How to retrieve sub webs under root web

The following REST endpoint

https://contoso.sharepoint.com/_api/site/rootWeb/webinfos

will return the collection of sub webs (WebInfo objects) under root web

Assume the following site structure:

-- Root
    |
    -- Community
       |
       -- Feedback

Then the following REST endpoint:

https://contoso.sharepoint.com/community/_api/web/webinfos

will return the Feedback sub web under Community web