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As I know, there is no free extension as you required. But you must be interested in this extension: Quick Login extension. I think it’s the extension you are finding. Its features:
- Log in, create new account, reset passwords via popups without loading to a new page
- Display the top link My account with dropdown menu to quickly access tabs
- Set up colors for links, border, background, etc. of popups
And you only have to spend $49 for this extension. Not too much!
You can download it here: http://www.magestore.com/magento-quick-login-extension.html