Assuming:
- This CQRS definition;
- HATEOAS;
- Awareness of the existing discussion;
CQRS will tell you to divide your application in two major architectural components: commands & queries. A command represents an user intent - all changes in the state of the application should be initiated exclusively by commands. Queries, on the other hand, represent questions an user can ask about the application state.
When it comes to exposing a REST-like API, it is important that a CQRS application makes it explicit the separation between commands and queries, so that clients can dynamically build task-based user interfaces. Assuming a JSON over HTTP API, that explicit separation could be accomplished by exposing commands as resources.