Add IterableDataset.decode with multithreading
Useful for dataset streaming for multimodal datasets, and especially for lerobot.
It speeds up streaming up to 20 times.

When decoding is enabled (default), media types are decoded:

* audio -> dict of "array" and "sampling_rate" and "path"
* image -> PIL.Image
* video -> torchvision.io.VideoReader

You can enable multithreading using `num_threads`. This is especially useful to speed up remote
data streaming. However it can be slower than `num_threads=0` for local data on fast disks.

PS: Disabling decoding is useful if you want to iterate on the paths or bytes of the media files
without actually decoding their content.

Example: Speed up streaming with multithreading:

```py
>>> import os
>>> from datasets import load_dataset
>>> from tqdm import tqdm
>>> ds = load_dataset("sshh12/planet-textures", split="train", streaming=True)
>>> num_threads = min(32, (os.cpu_count() or 1) + 4)
>>> ds = ds.decode(num_threads=num_threads)
>>> for _ in tqdm(ds):  # 20 times faster !
...     ...
```

why not multiprocessing ? decoding is done with the GIL released in soundfile/PIL/torchvision so multiprocessing would just use more memory

TODO
- [x] test
- [x] add to docs