Updates to CUDA and TensorRT dockerfiles for v0.5.0

[vinitra-zz]

Description: This PR updates the CUDA dockerfile base image to use CUDA 10.1 and TensorRT dockerfile to use version 19.06.

Motivation and Context

• This way we align with our CI and stay consistent with our newest MCR image updates.
  Also adds clear documentation of tags provided to the README.

• Relevant to updates made while addressing Tag ORT server images with version_number #1696

[snnn]

FYI, we will revert it to 10.0.

[manashgoswami]

Update the table in dockerfile/README.md

[jywu-msft]

FYI, we will revert it to 10.0.

Our thinking here was that AML has necessary drivers for CUDA 10.1,
so we can just go ahead and use 10.1 for the docker image deployed to AML.

Also, The TensorRT base image from Nvidia is using CUDA 10.1

[snnn]

FYI, we will revert it to 10.0.

Our thinking here was that AML has necessary drivers for CUDA 10.1,
so we can just go ahead and use 10.1 for the docker image deployed to AML.

Also, The TensorRT base image from Nvidia is using CUDA 10.1

Fine. I'll ask Faith what to do. @faxu

[vinitra-zz]

quick bump on this PR. @jywu-msft, @faxu, @snnn, @manashgoswami -- any additional input? This is ready to be merged from my side.