Adding registry for action expert and adds flow matching head

[nikhil-nakhate]

Related #4

This PR adds the following functionality:

1. Adds a flow matching head to mini-vla
2. Adds a registry for the action expert

The training loss converges much faster on the flow matching head

Diffusion training:

Epoch 6/50 loss=0.9701
Epoch 7/50 loss=0.9561
Epoch 8/50 loss=0.9466
Epoch 9/50 loss=0.9268
Epoch 10/50 loss=0.9243
Epoch 11/50 loss=0.9048
Epoch 12/50 loss=0.9099
Epoch 13/50 loss=0.8933
Epoch 14/50 loss=0.8729
Epoch 15/50 loss=0.8683

Flow matching training:

Epoch 6/50 loss=0.8614
Epoch 7/50 loss=0.7820
Epoch 8/50 loss=0.7186
Epoch 9/50 loss=0.6445
Epoch 10/50 loss=0.6091
Epoch 11/50 loss=0.5692
Epoch 12/50 loss=0.5352
Epoch 13/50 loss=0.5036
Epoch 14/50 loss=0.4930
Epoch 15/50 loss=0.4710

flow_success_correct.mov

[keivalya]

Hi @nikhil-nakhate , I am extremely sorry to revert back so late! Feel free to develop this project at your own fork, unfortunately I won't be able to merge this PR in my main, as I am planning to keep all the features in different branches (vision, flow-matching, etc) as I develop them further.

I am unable to track LinkedIn messages, I just saw those. Thank you so much for your patience, and I really really appreciate your support in this project.

:D

[nikhil-nakhate]

Thanks Keivalya. I can change the target branch if that helps. But I believe the target branch has to be created by you.

I thought you had mentioned in the issues that you want contributions.

Looking forward to hearing back.

[nikhil-nakhate]

I have changed the target branch and it has probably better performance. :) let me know what you think.