The value you need is the "id", as returned from the GET /devices endpoint. Then pass the value in a /members/$ref POST request:
GET https://graph.microsoft.com/v1.0/devices?$select=displayName,id
POST https://graph.microsoft.com/v1.0/groups/0d79d876-83a9-4845-bed8-a65e7633fb1b/members/$ref
{
"@odata.id": "https://graph.microsoft.com/v1.0/directoryObjects/3cfaf4c5-4c2c-4f34-b160-6748e45b2c49"
}