Support removing invalid utf-8 sequences. (#1648) #1513

Job	Run time
ubuntu-20.04 3.10 transducer	11m 28s
ubuntu-20.04 3.10 paraformer	12m 22s
ubuntu-20.04 3.10 zipformer2-ctc	11m 2s
ubuntu-22.04 3.10 transducer	7m 25s
ubuntu-22.04 3.10 paraformer	8m 12s
ubuntu-22.04 3.10 zipformer2-ctc	7m 36s
windows-latest 3.10 transducer	13m 2s
windows-latest 3.10 paraformer	18m 23s
windows-latest 3.10 zipformer2-ctc	15m 9s
macos-latest 3.10 transducer	5m 45s
macos-latest 3.10 paraformer	6m 35s
macos-latest 3.10 zipformer2-ctc	5m 45s
macos-14 3.10 transducer	4m 8s
macos-14 3.10 paraformer	4m 33s
macos-14 3.10 zipformer2-ctc	3m 47s
	2h 15m 12s

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