Deploy cleaned hand annotation PR and verified minimal worker image

deploy.py

@@ -63,10 +63,13 @@ def main():
                 [
                     sys.executable,
                     "-c",
-                    "import json; from lerobot.annotations.hands.config import public_catalog; print(json.dumps(public_catalog()))",
+                    "import json; from hand_actions import public_catalog; print(json.dumps(public_catalog()))",
                 ],
                 cwd=temporary,
-                env={**os.environ, "PYTHONPATH": str(Path(temporary) / "src")},
+                env={
+                    **os.environ,
+                    "PYTHONPATH": os.pathsep.join([str(Path(temporary) / "src"), str(folder)]),
+                },
                 text=True,
             )
         )

flora-worker-image.json

@@ -31,7 +31,7 @@
     "flora_batcher.py": "38e03e2032af8d5f3ed34980cc4d89927fe70c9742aa2ce13f4d0ccdd6fba727",
     "flora_speed_entry.py": "192b18d75b9d876c2a65d88de340c8cea7c8da90543d0510b5ee6865d123d524",
     "studio_runtime.py": "2b393bf7fafcdead638ad1cea35e49df8c6edce725f5545b76fd68e0a8fedd80",
-    "pipeline-version.json": "b0c3e208fae3ebc0ee38cb9df8ea657aadeca6b70629697a197df1d30dbe17c1",
+    "pipeline-version.json": "c42cab00f33cbe53582b0ad56f384d453cbb747eef6db7ec1ba91803bc469681",
     "flora_vision.py": "a5a4231abf7b615164c40986df5f87047f745a23c55d86385d88f2a09e70f1e8"
   },
   "acceptance": {
@@ -98,6 +98,7 @@
       ]
     },
     "inference_or_benchmark_rerun": false,
-    "core_change_scope": "Hand package only; other src files byte-identical to accepted pipeline bd4c312dac38068440edf59e764ba0c68ab7ce0b"
+    "core_change_scope": "Hand package only; other src files byte-identical to accepted pipeline bd4c312dac38068440edf59e764ba0c68ab7ce0b",
+    "pipeline_revision": "850bb584c545ebe9bfcefdcd9b02391cba1c4638"
   }
 }

hand-pipeline-catalog.json

@@ -29,14 +29,14 @@
     "frames": 1500,
     "planning_fps": null,
     "seconds": null,
-    "basis": "HF hardware has not been benchmarked",
+    "basis": "Runtime depends on video resolution and GPU",
     "reference_fps": [
       39.41450219151414,
       41.03790957211554
     ],
     "reference_compute": "RTX 5090",
     "reference_scope": "Two fresh ten-clip development samples, 1500 input frames and 1120 accepted frames each. Includes startup, decode, calibration, fresh DROID-W+MoGe, hands and native156D export. Excludes installation and model downloads; not a cold filesystem-cache benchmark.",
-    "caveat": "Different HF GPUs have no measured FPS yet. Queue, installation, downloads and dataset copying are additional."
+    "caveat": "Queue, installation, downloads and dataset copying add time."
   },
   "licenses": {
     "egohand": "https://huggingface.co/nvidia/EgoHand-v1",
@@ -44,5 +44,5 @@
     "soma": "https://huggingface.co/nvidia/SOMA-X",
     "runtime": "https://github.com/NVlabs/GEM-X/blob/20555befe2fbbe5b2015e1fff7ff214dc18ea9d6/ATTRIBUTIONS.md"
   },
-  "lerobot_revision": "6b25ea37e6e96122d4af1fa85f6f0d8659f274f4"
+  "lerobot_revision": "850bb584c545ebe9bfcefdcd9b02391cba1c4638"
 }

hand-worker-image.json

@@ -1,10 +1,10 @@
 {
   "recipe": "egohand-soma-v3-checkpoint-overlap-v4",
   "build_verified": true,
-  "image_repo": "finerobotics/egohand-soma-worker-v4",
-  "image_revision": "06dcbf6fc970289d532eeebc86bedeef72b8c791",
-  "image": "hf.co/spaces/finerobotics/egohand-soma-worker-v4",
-  "image_version_sha256": "624de4590d55adfe656876c3ff6b00929519b5d960cc6c3d710b6a204bc034ac",
+  "image_repo": "finerobotics/annotation-hands-worker",
+  "image_revision": "775ee404b1c327b6f952561f761c5be27d455122",
+  "image": "hf.co/spaces/finerobotics/annotation-hands-worker",
+  "image_version_sha256": "96757674746f24b8e2031e6d0ca656b8d24681eb6493a2e826edbbd735dbaf6f",
   "assets": {
     "repo": "finerobotics/egohand-soma-runtime",
     "revision": "cb082150aed8612fd50a6a78a0e37deebf24b6c3",
@@ -30,28 +30,25 @@
     "timeout_s": 7200
   },
   "gpu_acceptance": {
-    "job": "pepijn223/6adad0bec191903149a796ea",
-    "dataset": "pepijn223/egovista-kitchen-manipulation-v1-egohand-soma-test8",
-    "dataset_revision": "c66be7c66d7da19496cf3120a6621ed275fa5bbc",
-    "verified_at": "2026-10-23T03:27:35.320627+00:00",
-    "retained_frames": 751,
-    "valid_frames": 741,
-    "invalid_masked_frames": 10,
+    "job": "pepijn223/6adb536b046eb82b1ecd4421",
+    "core_revision": "850bb584c545ebe9bfcefdcd9b02391cba1c4638",
+    "image_revision": "775ee404b1c327b6f952561f761c5be27d455122",
+    "retained_frames": 60,
+    "valid_frames": 60,
     "native_parameters_finite": true,
-    "ordinary_data_loader": true,
+    "camera_depth_prior": {
+      "mode": "on",
+      "counts": {
+        "depth_loads": 1,
+        "depth_predictions": 7,
+        "depth_bypasses": 0
+      },
+      "metric_depth_reg": true,
+      "source_sha256": "9bb2fe41b6c52cfe8d4d2f584e9ea4d230b83a27bd44afb43c401cd63d0f7f04",
+      "gt_scale_fit": false
+    },
     "calibration_mode": "estimate-moge",
     "metric_accuracy_validated": false,
-    "actual_video_review": false,
-    "compute_flavor": "h200",
-    "source_resolution": [
-      3840,
-      2160
-    ],
-    "source_fps": 10,
-    "native_annotation_seconds": 82.9781820140197,
-    "job_running_seconds": 557,
-    "job_wall_seconds": 729,
-    "compute_usd_estimated": 0.83333,
-    "invoice_available": false
+    "compute_flavor": "h200"
   }
 }

hand_actions.py

@@ -1,15 +1,70 @@
 """Native EgoHand/SOMA actions in the shared annotation wizard and HF Jobs lifecycle."""
 
 import json
+import math
 import re
 from dataclasses import asdict
 from pathlib import Path
 
-from lerobot.annotations.hands.config import COMPUTE, RECIPE, HandBackendConfig, estimate, public_catalog
+from lerobot.annotations.hands.config import (
+    ACTION_SCHEMA,
+    GEM_REVISION,
+    RECIPE,
+    RUNTIME_REVISION,
+    HandBackendConfig,
+)
 from lerobot.annotations.hands.intrinsics import METHOD
 from lerobot.annotations.hands.writer import validate_calibration
 
 HANDS = "Hand actions"
+COMPUTE = {
+    "a100-large": "A100 80 GB",
+    "rtx-pro-6000": "RTX PRO 6000 96 GB",
+    "h200": "H200 141 GB",
+}
+
+
+def estimate(frames, planning_fps=None):
+    """Separate a planning assumption from the qualified development reference."""
+    if planning_fps is not None and (not math.isfinite(planning_fps) or planning_fps <= 0):
+        raise ValueError("Planning FPS must be finite and positive")
+    return {
+        "frames": frames,
+        "planning_fps": planning_fps,
+        "seconds": frames / planning_fps if planning_fps else None,
+        "basis": "user planning assumption"
+        if planning_fps
+        else "Runtime depends on video resolution and GPU",
+        "reference_fps": [39.41450219151414, 41.03790957211554],
+        "reference_compute": "RTX 5090",
+        "reference_scope": "Two fresh ten-clip development samples, 1500 input frames and 1120 accepted "
+        "frames each. Includes startup, decode, calibration, fresh DROID-W+MoGe, hands and native156D "
+        "export. Excludes installation and model downloads; not a cold filesystem-cache benchmark.",
+        "caveat": "Queue, installation, downloads and dataset copying add time.",
+    }
+
+
+def public_catalog():
+    """Expose Studio's compute choices and model terms alongside the core recipe."""
+    return {
+        "recipe": RECIPE,
+        "runtime_revision": RUNTIME_REVISION,
+        "gem_revision": GEM_REVISION,
+        "action_schema": ACTION_SCHEMA,
+        "action_dimension": 156,
+        "camera": "DROID-W + MoGe Small (required)",
+        "hand_model": "nvidia/EgoHand-v1",
+        "hand_representation": "SOMA/MHR",
+        "motion_infilling": False,
+        "profiles": [{"key": key, "name": value, "reference_fps": None} for key, value in COMPUTE.items()],
+        "reference": estimate(1500),
+        "licenses": {
+            "egohand": "https://huggingface.co/nvidia/EgoHand-v1",
+            "detector": "https://huggingface.co/nvidia/RT-DETR-Hand-Detector-v1",
+            "soma": "https://huggingface.co/nvidia/SOMA-X",
+            "runtime": f"https://github.com/NVlabs/GEM-X/blob/{GEM_REVISION}/ATTRIBUTIONS.md",
+        },
+    }
 
 
 def runtime_configuration():

pipeline-source.tar.gz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:47f2782ac691b7664ae312310deac193cba0376c8404646b608da4607ae94a77
-size 1873266
+oid sha256:ba5218df544d3a6491b97a10cb36506bec38ffddff40ce51a8947560ff52eee4
+size 1869569

pipeline-version.json

@@ -1,6 +1,6 @@
 {
-  "git_commit": "6b25ea37e6e96122d4af1fa85f6f0d8659f274f4",
-  "sha256": "47f2782ac691b7664ae312310deac193cba0376c8404646b608da4607ae94a77",
+  "git_commit": "850bb584c545ebe9bfcefdcd9b02391cba1c4638",
+  "sha256": "ba5218df544d3a6491b97a10cb36506bec38ffddff40ce51a8947560ff52eee4",
   "preset": "abc_phases_schema_with_original_window_recovery",
   "preset_date": "2026-09-25",
   "engine": "lerobot.annotations.runtime",

studio.py

@@ -14,7 +14,7 @@ from pathlib import Path, PurePosixPath
 import pyarrow.parquet as pq
 from flora_captioner import FLORA
 from flora_image import validated_worker_image
-from hand_actions import HANDS, prepare_hands, runtime_configuration
+from hand_actions import COMPUTE, HANDS, prepare_hands, runtime_configuration
 from huggingface_hub import HfApi, hf_hub_download
 from huggingface_hub.utils import validate_repo_id
 from model_catalog import (
@@ -28,8 +28,6 @@ from model_catalog import (
 )
 from prompt_config import TEMPLATES, validate_prompts
 
-from lerobot.annotations.hands.config import COMPUTE
-
 MODEL = model_profile()["route"]
 PROVIDER = model_profile()["provider"]
 FEATURES = {

test_hand_actions.py

@@ -15,7 +15,7 @@ import pytest
 sys.path.insert(0, str(Path(__file__).parent))
 import studio
 import worker
-from hand_actions import HANDS, catalog
+from hand_actions import COMPUTE, HANDS, catalog, estimate
 from studio_runtime import run_episode
 
 from lerobot.annotations.hands.config import ACTION_SCHEMA
@@ -23,6 +23,12 @@ from lerobot.annotations.hands.writer import PARAMETERS
 from lerobot.annotations.steerable_pipeline.reader import EpisodeRecord
 
 
+def test_no_fabricated_hf_throughput():
+    assert set(COMPUTE) == {"h200", "a100-large", "rtx-pro-6000"}
+    assert estimate(3000)["seconds"] is None
+    assert estimate(3000)["reference_fps"] == [39.41450219151414, 41.03790957211554]
+
+
 def test_unconfigured_runtime_cannot_claim_ready(monkeypatch):
     monkeypatch.setattr(
         "hand_actions.runtime_configuration",