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How to integrate with a vertex ai agent built through a builder

I built an agent using a vertext AI agent builder. Now I want to invoke the agent through an API to get responses for user queries. I'm not sure how I can query the agent. 

https://us-central1-dialogflow.googleapis.com/v3/projects/<project-id>/locations/us-central1/agents/...

Is this the right endpoint to query it through the API?  I am getting different responses through this endpoint than when I query it through the preview console. Why is this happening and is there a different way to invoke the agents? 
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