Improved `shard_id` parsing in `LazyNemoTarredIterator`, enables AIS dataloading
# What does this PR do ?

Improves the path-based `shard_id` parsing in `LazyNemoTarredIterator`; removes the assumption of a rigid path structure and instead searches the string with regex pattern that must contain `manifest/audio`, `_(shard_id)`, and `json/tar` with no slashes in between. It allows loading data directly from AIStore (`pipe:ais get ais://bucket/audio_{0..N}.tar -`) and other cloud storage CLIs; it also allows more path patterns such as `manifest_0_punctuation.json` (CC @krishnacpuvvada).

For example, it's possible to train a NeMo model from AIStore data just by passing the following config options (assuming [`ais`](https://github.com/NVIDIA/aistore/blob/main/docs/getting_started.md#local-playground) binary is available):
```yaml
manifest_filepath: 'pipe:ais get ais://my-bucket/sharded_manifests/manifest__OP_0..127_CL_.json -'
tarred_audio_filepaths: 'pipe:ais get ais://my-bucket/audio__OP_0..127_CL_.tar -'
```

Finally it improves the assertion messages about mismatches in paths/shard_ids/items between JSON and tar inputs to provide more details for debugging multi-dataset setups with wrong input specification.
 
**Collection**: ASR, multimodal

# Changelog 
- Support AIStore dataloading for ASR/multimodal and allow more general path patterns

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