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Support nvidia-container-runtime for gpu isolation (#2352)

* Support nvidia container runtime for gpu isolation

Support nvidia-container-runtime for gpu isolation.
Set NVIDIA_VISIBLE_DEVICES to void to avoid conflict with runc, reference:
https://github.com/NVIDIA/nvidia-container-runtime#nvidia_visible_devices.

Works for w/ and w/o --runtime=nvidia.

Closes #1667.

* Set default runtime to runc

Set runtime to runc explicitly to overwrite default runtime.

* Drop `MKNOD` capability

Drop `MKNOD` capability when starting container.
`nvidia-smi` will make all gpu devices show up under /dev,
drop [mknod](https://linux.die.net/man/2/mknod) capability to avoid this.

Reference: https://github.com/NVIDIA/nvidia-docker/issues/170

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