[Fix] Update Ubuntu version to fix CI

[Ben-Louis]

Motivation

Modification

1. Update docker image to ubuntu-22.04 due to The Ubuntu 18.04 Actions runner image will begin deprecation on 2022/08/08 and will be fully unsupported by 2023/04/03 actions/runner-images#6002
2. Add unit test with pytorch 2.0
3. Fix model config links in document

BC-breaking (Optional)

Use cases (Optional)

Checklist

Before PR:

• I have read and followed the workflow indicated in the CONTRIBUTING.md to create this PR.
• Pre-commit or linting tools indicated in CONTRIBUTING.md are used to fix the potential lint issues.
• Bug fixes are covered by unit tests, the case that causes the bug should be added in the unit tests.
• New functionalities are covered by complete unit tests. If not, please add more unit tests to ensure correctness.
• The documentation has been modified accordingly, including docstring or example tutorials.

After PR:

• CLA has been signed and all committers have signed the CLA in this PR.

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.02 ⚠️

Comparison is base (896e9d5) 82.25% compared to head (b63e942) 82.23%.

❗ Current head b63e942 differs from pull request most recent head 8707521. Consider uploading reports for the commit 8707521 to get more accurate results

Additional details and impacted files

@@             Coverage Diff             @@
##           dev-1.x    #2239      +/-   ##
===========================================
- Coverage    82.25%   82.23%   -0.02%     
===========================================
  Files          228      229       +1     
  Lines        13387    13519     +132     
  Branches      2268     2295      +27     
===========================================
+ Hits         11011    11117     +106     
- Misses        1862     1874      +12     
- Partials       514      528      +14     

Flag	Coverage Δ
unittests	82.23% <ø> (-0.02%)	⬇️

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see 19 files with indirect coverage changes

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