Add github CI pipeline for ubuntu

[pfxuan]

This PR adds the initial CI/CD functionality to support the cross-platform build and test. Current version supports different Ubuntu-based build setup. Hopefully, we can make Windows and MacOS builds work in near future.

Build Matrix: os: [ubuntu-22.04, ubuntu-20.04] torch-version: [2.1.2] cuda-version: ['cu118', 'cu121']
cmake-build-type: [Release]

Build jobs:

• ubuntu-22.04-cu118-torch-2.1.2-Release
• ubuntu-22.04-cu212-torch-2.1.2-Release
• ubuntu-20.04-cu118-torch-2.1.2-Release
• ubuntu-20.04-cu212-torch-2.1.2-Release

[pierotofy]

This looks great! Thanks @pfxuan !

[pfxuan]

Thank you for accepting this CI build solution. I'll fix ubuntu-20.04 build issue from next PR.