I've noticed there are some bugs in the pdfoutline conversion in texinfo.tex
(from the v4.0 tarball). For one, page-jumps don't seem to work for sections.
Two, the page jumps for chapters can be off by a page. Three, the outline
is not presented hierarchically but serially (no chapter/section etc.
hierarchy). Four, the @summarycontents command produces no output for a
pdf outline.
I would give a diff but I was not able to get texinfo.tex producing good
outlines... I'm no texpert unfortunately.
Thanks,
John