IterableDataset: cannot resolve features from list of numpy arrays

### Describe the bug

when resolve features of `IterableDataset`, got `pyarrow.lib.ArrowInvalid: Can only convert 1-dimensional array values` error.

```
Traceback (most recent call last):
File "test.py", line 6
iter_ds = iter_ds._resolve_features()
File "lib/python3.10/site-packages/datasets/iterable_dataset.py", line 2876, in _resolve_features
features = _infer_features_from_batch(self.with_format(None)._head())
File "lib/python3.10/site-packages/datasets/iterable_dataset.py", line 63, in _infer_features_from_batch
pa_table = pa.Table.from_pydict(batch)
File "pyarrow/table.pxi", line 1813, in pyarrow.lib._Tabular.from_pydict
File "pyarrow/table.pxi", line 5339, in pyarrow.lib._from_pydict
File "pyarrow/array.pxi", line 374, in pyarrow.lib.asarray
File "pyarrow/array.pxi", line 344, in pyarrow.lib.array
File "pyarrow/array.pxi", line 42, in pyarrow.lib._sequence_to_array
File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: Can only convert 1-dimensional array values
```

### Steps to reproduce the bug

```python
from datasets import Dataset
import numpy as np

# create list of numpy
iter_ds = Dataset.from_dict({'a': [[[1, 2, 3], [1, 2, 3]]]}).to_iterable_dataset().map(lambda x: {'a': [np.array(x['a'])]})
iter_ds = iter_ds._resolve_features() # errors here
```

### Expected behavior

features can be successfully resolved

### Environment info

- `datasets` version: 2.21.0
- Platform: Linux-5.15.0-94-generic-x86_64-with-glibc2.35
- Python version: 3.10.13
- `huggingface_hub` version: 0.23.4
- PyArrow version: 15.0.0
- Pandas version: 2.2.0
- `fsspec` version: 2023.10.0