feat(protocol): support backward-compatible batch-proof verification

[dantaik]

This PR introduces support for batch proofs (also known as aggregated proofs) in our BCR protocol. The changes include new interfaces and functions to accommodate both individual and batch proof verification.

Added verifyBatchProof function to IVerifier interface.

Most verifiers haven't implemented this function yet, but the protocol remains functional.

Introduced proveBlocksV2 function in ITaikoL2.

It supports two modes:

• Separate-proving mode: Each block transition has its own proof, allowing different tiers.
• Batch-proving mode: All block transitions share an aggregated proof, requiring the same tier for all transitions.

Mode selection for proveBlocksV2

• If a verifier doesn't support verifyBatchProof, separate-proving mode should be used.
• If supported, batch-proving mode is preferred for efficiency.
• Verifiers supporting only verifyBatchProof require batch-proving mode exclusively.

Original PR: #17938