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Picking them green likely little or nothing to do with why they floated. Acorn weevils (larva) inside the acorn can consume the "meat" of the acorn creating an air space causing the "float."
Also dehydration (possibly from drying too long or too much heat) can cause shrinkage (and loss of weight with removal of moisture) within the acorn ... a dead air space and promoting floating.
If many or all floated, it's likely they are not viable.
With some tree species I stopped doing the float test altogether. It isn't quite fool proof and it's really more of an estimation for seed viability. You don't know until you try to get them to germinate.
What species are they? Float testing works well for me, but I usually have an abundance of acorns and don't need to fool with trying to save iffy nuts. Plus I know the species I work with pretty well and know the float test works good enough. If I had only a few and there was no apparent bug damage I'd try to soak them to see if they became viable. Will they need cold stratification? I'm guessing not if they taste ok.
I think some were English oak, and some were Garry oak, and some were hybrid reds. I gathered them over a period of a month in the Pacific Northwest. I was working and didn’t have refrigerator access . Some did fine ( most of them were gathered at the end of the trip.)
I had quite a diversity of them, it’s disappointing but hey, one has to learn some how.
There are some species of acorns with very low tannins, and humans can eat them without any leaching. One of them is Swamp Chestnut Oak. I tried some the other day. They tasted to me like a chestnut that was still a little on the green side - not bitter, but not sweet.