If S is IPv6-only, then either the address is from the IPv4 range, or it's not. If it is, then R can translate between them. If not, then they can't connect. I don't see him suggesting otherwise anywhere.
Even ignoring translation possibility, his point here isn't to claim its magically possible for a server outside the IPv4 address range to talk to an IPv4 client. His point is that this can move everyone to IPv6 for communication, without ISPs also having to deal with leasing addresses outside the IPv4 range, which he believes would help adoption.