My r.js grunt config section

app.js

define(['aura/aura'], function(Aura) {
  'use strict';

  var aura = new Aura({
    sources: {
      'default': 'aura_components'
    },
    debug: {
      enable: true
    }
  });

  aura.start({ components: 'body' }).then(function () {
    aura.logger.log('started');
  });
});

gruntfile.js

options: {
  baseUrl: 'lib',
  optimize: 'uglify2',
  preserveLicenseComments: false,
  generateSourceMaps: true,
  findNestedDependencies: true,
  paths: {
    aura: 'empty:',
    jquery: 'empty:',
    underscore: 'empty:',
    backbone: 'empty:',
    text: 'empty:',
    i18n: 'empty:'
  },
  shim: {
    underscore: {
      exports: '_'
    },
    backbone: {
      exports: 'Backbone'
    },
  },
  include: ['main', 'app', 'aura_components/registration/main', 'nls/nb-no/messages', 'nls/se/messages', 'nls/fi/messages'],
  exclude: ['jquery', 'backbone', 'underscore', 'aura', 'text', 'i18n'],
  out: 'webfeature/scripts/main.js'
}

/*
 result after run: grunt requirejs:compile
 
>> Tracing dependencies for:
>> C:/GitHub/LandingPagesEngine/webfeature/scripts/main.js
>> Tracing dependencies for: jquery
>> Tracing dependencies for: backbone
>> Tracing dependencies for: underscore
>> Tracing dependencies for: aura
>> Tracing dependencies for: text
>> Tracing dependencies for: i18n
>> Uglify2 file: C:/GitHub/LandingPagesEngine/webfeature/scripts/main.js
>> C:/GitHub/LandingPagesEngine/webfeature/scripts/main.js
>> ----------------
>> C:/GitHub/LandingPagesEngine/lib/main.js /************ actually just a config file. -***************** /
>> C:/GitHub/LandingPagesEngine/lib/app.js
>> C:/GitHub/LandingPagesEngine/lib/aura_components/registration/models/order.js
>> C:/GitHub/LandingPagesEngine/lib/aura_components/registration/models/model.js
>> C:/GitHub/LandingPagesEngine/lib/aura_components/registration/collections/typ
>> es.js
>> C:/GitHub/LandingPagesEngine/lib/aura_components/registration/views/customer.
>> js
>> C:/GitHub/LandingPagesEngine/lib/aura_components/registration/views/child.js
>> C:/GitHub/LandingPagesEngine/lib/nls/messages.js
>> i18n!nls/messages
>> C:/GitHub/LandingPagesEngine/lib/aura_components/registration/views/app.js
>> C:/GitHub/LandingPagesEngine/lib/aura_components/registration/models/init.js
>> C:/GitHub/LandingPagesEngine/lib/aura_components/registration/main.js
>> C:/GitHub/LandingPagesEngine/lib/nls/nb-no/messages.js
>> C:/GitHub/LandingPagesEngine/lib/nls/se/messages.js
>> C:/GitHub/LandingPagesEngine/lib/nls/fi/messages.js
*/

main.js

define(function () {
'use strict';
  
	require.config({
    deps: ['app'],
    paths: {
      'jquerylib': [ '//ajax.googleapis.com/ajax/libs/jquery/1.10.2/jquery.min', './jquery.min'],
      'underscorelib': ['//cdnjs.cloudflare.com/ajax/libs/underscore.js/1.5.2/underscore-min', './underscore-min'],
      'backbone': ['//cdnjs.cloudflare.com/ajax/libs/backbone.js/1.1.0/backbone-min', './backbone-min'],
      'textlib': './text',
      'i18n': './i18n',
      'aura': './',
    },
    shim: {
      'jquerylib': {
        exports: '$'
      },
      'underscorelib': {
        exports: '_'
      },
      'backbone': {
        deps: ['jquerylib', 'underscorelib']
      }
    },
    map: {
      '*': {
        'underscore': 'underscorelib',
        'text': 'textlib',
        'jquery': 'jquerylib'
      }
    }
	});
});