Upgrade ML-Agents to 4.0.1

[Codengineer]

Update Changelog
Update inference engine dependencies
Update the code dependencies to "com.unity.ai.inference": "2.4.1"
This is a re-spin of #6264 in a new branch because the former had code signing issues. Credits @maryamziaa

Types of change(s)

• Bug fix
• New feature
• Code refactor
• Breaking change
• Documentation update
• Other (please describe)

Checklist

• Added tests that prove my fix is effective or that my feature works
• Updated the changelog (if applicable)
• Updated the documentation (if applicable)
• Updated the migration guide (if applicable)

Other comments

[maryamziaa]

Please update the PR number in the changelog. Other than that, it LGTM!

[Codengineer]

These actions are failing but they are also failing in develop branch
colab / colab (Colab_UnityEnvironment_1_Run.ipynb)
colab / colab (Colab_UnityEnvironment_2_Train.ipynb)
colab / colab (Colab_UnityEnvironment_3_SideChannel.ipynb)
pytest / pytest (3.10.12)