Support removing invalid utf-8 sequences. #1512

Job	Run time
ubuntu-20.04 3.10 transducer	11m 45s
ubuntu-20.04 3.10 paraformer	12m 13s
ubuntu-20.04 3.10 zipformer2-ctc	11m 7s
ubuntu-22.04 3.10 transducer	7m 26s
ubuntu-22.04 3.10 paraformer	8m 28s
ubuntu-22.04 3.10 zipformer2-ctc	7m 30s
windows-latest 3.10 transducer	16m 52s
windows-latest 3.10 paraformer	18m 56s
windows-latest 3.10 zipformer2-ctc	15m 5s
macos-latest 3.10 transducer	5m 54s
macos-latest 3.10 paraformer	7m 5s
macos-latest 3.10 zipformer2-ctc	3m 44s
macos-14 3.10 transducer	3m 46s
macos-14 3.10 paraformer	5m 34s
macos-14 3.10 zipformer2-ctc	3m 46s
	2h 19m 11s

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