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Who is your ISP? Several ISP's have begun throttling Torrent ports lately. Additionally the WRT54G has some known issues with P2P downloading. It seems that is looks at all those open ports and open connections and starts treating them like a DOS attack.
The router supports UPnP so you really shouldn't have to mess with port forwarding, but you may want to update the firmware in the router to the latest version.
First thing I would do, to determine whether its the router causing the issue or your ISP, is go directly from the modem to just ONE PC. Then do your checks.
Also 661kbps is MUCH slower than the 1.5mbps that you are paying for. If you do a speed check without the router and its still that low you should contact your ISP about the crappy service that you are getting.
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