The straightforward, non-philosophical answer, is that it comes from General Relativity (GR) with certain observations and verifications.
First GR. Einstein's theory, as you call it, which is GR, is not that matter-energy interacts with space and causes SPACE to bend. Not exactly true, but true in some cases. it actually bends SPACETIME. TIME is also bent. We define the bending by the curvature it creates in SPACETIME. A simple mathematical depiction of the geometry of a SPACETIME is given by the formula for the spacetime interval in a geometry, written as
$$ds^2 = g_{\mu\nu} dx^\mu dx^\nu$$
where the indices $\mu$ and $\nu$ going from 1 to 4, and $dx^4$ is time, with the other 3 being x, y, z. That's the space and time coordinates. The $g_{\mu\nu}$ are the components of the metric tensor, with the repeated indices signifying that you must sure over all possible values. From the g's one can construct curvature measures that are indpenendent of the coordinate system. Thus, it is no different (well some) than space, and both will curve. Time curvature is reflected in time going slower or faster, and also as it's mixing with spatial coordinates to have space reference frames rotate or change over time.
SECOND: observations and solution
As @Alfred Centauri said in his comment, if space is homogeneous and isotropic (on a large scale, the same everywhere and in all directions), and using a simple model for the matter and energy, the Einstein equations have the solution called the FLRW solution. It identifies the metric terms g's introduced above. It turned out then that the observations leads almost surely (some 1% or so uncertainty) to all metric components being constant except,the metric components for x, y, and z being the square of a so called scale factor a(t). Initially, at the Big Bang, a(t=0) is very small, 0 or so, but it's velocity, the rate of change of a, very very large. That scale factor, as a function of time, fully determines the geometry (shape and size) of the universe. As a(t) became larger the universe grew. There were different epochs when it grew faster then slower then accelerated again, all due to the matter-energy in the universe and the equations of the FLRW solution. At a certain time t inflation started and ended quickly, due to the dark energy. See the evolution told better at https://en.m.wikipedia.org/wiki/Chronology_of_the_universe
SO, WHAT is space expansion?
Simply that growth of the size of space by the factor a(t) in every direction, as it increased. We've measured it since the discovery of Hubble's law to hold for very large scales, by measuring redshift and observed distances. Also the cosmic microwave background, the CMB, confirmed a time of very high temperature and radiation, that we now observe at lower temperatures and frequencies everywhere and in all directions. It's also confirmed the quantum fluctuations sizes that later created galaxies and stars (see below).
SO, WHERE DID THE ENERGY OR IMPULSE CAME FROM?
Initially from the so far unexplained BIg Bang. But that became not as big a factor in the expansion as what was called the inflationary epoch. It is believed that some quantum field, the INFLATON, decayed from a high energy state everywhere in space, and infused all the energy for the inflation, very quickly, and created all the initial matter-energy that later went into forming particles like electrons, quarks, gluons, photons and so on.
Inflation is not fully verified but there is strong evidence of it from the smoothness of the universe except for inhomogeneities that grew out of Planck sized quantum fluctuations to later form galaxies and stars and planets, Andy other measurements.
The inflation theory is still waiting to be fully confirmed through more recent and future measurements and observations including from gamma rays, the rest of the EM spectrum, and gravitational radiation telescopes that will be deployed and see past the radiation wall where the CMB came from
SO DO WE KNOW ALL THAT? REALLY?
It's, like most modern science, a developing field, with some items still to be verified. The inflation theory is one, dark energy another, and dark matter the third. But it all fits very nicely into the consensus LAMBDA CDM cosmology model. As we find out more we'll know more. But the expansion of the universe does not seem to be in question.