For better than 40 years of teaching finger-style to hundreds of students I have ALWAYS encouraged keeping the tip of the pinkie anchored with hand cupped above the strings, wrist slightly bent up, for one simple reason: it minimizes extraneous hand movement, something that impedes accuracy, speed and developing dynamics. Later on, some students naturally go to removing the pinkie and that's just fine, assuming they still have minimal hand movement and are consistently accurate. The tough part for most people is counterintuitive: forcing yourself to relax! Being conscious of keeping a light touch helps that somewhat.
As above.....there is no absolute right or wrong way regarding anchoring. But in my experience, doing it helps students become good finger style players MUCH faster than allowing the hand to float. And then there's the subject of devoting fingers to specific strings, but that's a whole 'nuther thing!
Gene
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