Add optimizer save and load (#16986)
* save optimizer related vars in dygraph * test=develop, add optimizer save and load * test=develop, add optimizer save and load * test=develop, merge code and add multi-optimizer save and load * test=develop, fix test_imperative_checkpoint * test=develop, fix include error * test=develop, fix include error * test=develop, renew api spec * test=develop, refine code * test=develop, set default value for checkpoint * test=develop, fix ci error * test=develop, change API.spec and make api more readable * test=develop, refine version and time stamp * test=develop, add example code and refine code * test=develop, refine doc * test=develop, change version
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