Mark,
I don't know what Hal Robinson teaches, but IMO opinion the correct fingering is the one that's easiest to play in tune. In your example you didn't mention what key you're in, but in G, I'd often play the E and F# below the octave harmonic with 1-4, then T-1-2-3, T-1-2-3. For me, the key plays a part in determining when I start using my thumb, but I also practice a couple of different ways of getting into and out of thumb position. I also practice lot's of different fingerings. For example going up the D string and not crossing to the G string until the last 3 or 4 notes, or whatever. Only playing scales up and down the G string would be great if you played music that could be played entirely on the G string. So given all the possibilities, I don't know how or why one would be deemed correct.