Yes, it does behave like -1 in numpy.reshape(), i.e. the actual value for this dimension will be inferred so that the number of elements in the view matches the original number of elements.
For instance:
import torch
x = torch.arange(6)
print(x.view(3, -1)) # inferred size will be 2 as 6 / 3 = 2
# tensor([[ 0., 1.],
# [ 2., 3.],
# [ 4., 5.]])
print(x.view(-1, 6)) # inferred size will be 1 as 6 / 6 = 1
# tensor([[ 0., 1., 2., 3., 4., 5.]])
print(x.view(1, -1, 2)) # inferred size will be 3 as 6 / (1 * 2) = 3
# tensor([[[ 0., 1.],
# [ 2., 3.],
# [ 4., 5.]]])
# print(x.view(-1, 5)) # throw error as there's no int N so that 5 * N = 6
# RuntimeError: invalid argument 2: size '[-1 x 5]' is invalid for input with 6 elements
print(x.view(-1, -1, 3)) # throw error as only one dimension can be inferred
# RuntimeError: invalid argument 1: only one dimension can be inferred