Running neural planner takes a very long time

When running `neuralplanner.py` on a sample 2D environment that is previously unseen (ie, environment 150 as an example), GPU utilization is only about 10%, and the planner takes about 10 mins to run.

The computer has an RTX 3060 GPU so I would think it should be much faster.

Does it sound like something is configured incorrectly, or is this expected?