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To be honest you can get away with huge amounts of damage and engine will still run. Should you? No not really. Anything more than a mild imprint and I'd change them. Any marks at all if its a performance build and I'd replace with new.
just give them a good clean up to make sure there's no loose bits of swarf or similar. should be fine unless it went badly enough to cause a crack, but i doubt it will have.
Problem with modern Hypereutectic high silicone content pistons is that they are very brittle, as such the kind of damage to piston crowns from valve contact which used to be acceptable can now result in failure at a later date.
As I said you can get away with some horrific damage but I'd never really want to risk it on anything that'll be used in anger.