I'm sure that if you really wanted to, in practice, you could take a cask of radioactive used fuel or vitrified fission product waste and attach it to a Stirling engine or organic-Rankine engine, and use it as a very reliable source of a small amount of power - quite similar to the RTGs used on spacecraft , except with an engine for energy conversion, not thermoelectrics.
But I guess the stringent regulation of radioactive materials, and fear of nuclear technology, makes it economically unfeasible for a relatively small amount of energy.