replace uses of np.ndarray with npt.NDArray
Summary:
X-link: https://github.com/pytorch/opacus/pull/681
X-link: https://github.com/pytorch/captum/pull/1389
X-link: https://github.com/pytorch/botorch/pull/2586
X-link: https://github.com/pytorch/audio/pull/3846
This replaces uses of `numpy.ndarray` in type annotations with `numpy.typing.NDArray`. In Numpy-1.24.0+ `numpy.ndarray` is annotated as generic type. Without template parameters it triggers static analysis errors:
```counterexample
Generic type `ndarray` expects 2 type parameters.
```
`numpy.typing.NDArray` is an alias that provides default template parameters.
Reviewed By: ryanthomasjohnson
Differential Revision: D64619891
fbshipit-source-id: dffc096b1ce90d11e73d475f0bbcb8867ed9ef01
