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How can I check GPU usage?

Linux Mint comes with "System Monitor", a GNOME utility that - among other things - shows my CPU and RAM usage and network transfer rate. It seems intended as the system's alternative to the Task Manager in Windows.

However, this doesn't show me GPU usage. I'd like to be able to check whether a given program is using the GPU, the current load etc. Ideally I could also monitor GPU sensors, such as for temperature.

What programs can I use for this? I'm open to all solutions, whether it's just catting some special `/proc` file, an actual command-line tool, or a GUI option. (Or even a System Monitor preference I somehow overlooked?)