What it means for an answer to be grounded
Two things that often get mixed together belong apart. Retrieval-augmented generation is an architecture: it describes how you build a system that searches for documents before writing. Grounding is a property of the result: it describes how far what the answer says is held up by those documents. One is the blueprint of the machine, the other is the measure of what comes out the far end.
The distinction is not academic. A system built with retrieval can return a poorly grounded answer, because the model received the right fragments and still wrote a sentence that none of them supports. The opposite also happens, when a model without retrieval mentions from memory a source that exists and that does in fact say what it claims. Retrieving and supporting are different operations, and the first does not guarantee the second.
Grounded, in practice, means three conditions hold together. The cited source exists and is accessible. The source genuinely deals with the matter the sentence is about. And the source claims what the sentence attributes to it. Serious evaluation systems check all three separately, because each fails on its own and the last one breaks most often.