how a REST client will generate its stub automatically witgout a WSDL file

I am new to Rest web service and while learning it a question strikes me, In SOAP based web service, WSDL is act as a contract between client and service provider, so, Client will know how to interact with service provider by reading the WSDL file and create a client which is highly capable of interacting with service provider. To my understanding, in Rest web service we don't have WSDL so how a client will generate its stub automatically?