Type annotate `pyro.util.py` (#3393) #1333

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Job	Run time
lint (3.8)	27s
docs (3.8)	1m 25s
tutorials-html (3.8)	2m 58s
funsor	0s
unit	0s
integration_1	0s
integration_2	0s
examples	0s
finish	0s
	4m 50s