On not giving up the world: Davidson and the grounds for belief

What is the relation between our beliefs or thoughts in general and the perceptual experience of the world that gives rise to those beliefs. Donald Davidson is taken to have a well-known answer to this question that runs as follows: while our beliefs are at least in part, caused by our experience, such experience does not thereby count as providing a rational ground for those beliefs; our beliefs are evidently ground in other belief but not in the experience that gives rise to them.