Pr alf upgrade (#1437)

* update cicd docker and alf gpu docker usage

* update alf software dependencies for cuda 11.4

* fix cicd docker file dependencies

* upgrade absl-py to be compatible with py38

* numpy version fixed to 1.23

* np.asscalar is deprecated in new numpy

* simple_value no longer works after upgrading

* skip test_mbrl_latent_pendulum

* upgrade tensorboard to 2.6.0

* upgrade cnest to 1.1.1 (fixed segfault)

* revert test case comments