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Recognizing material categories is one of the core challenges in robotic nuclear waste decommissioning. All nuclear waste should be sorted and segregated according to its materials, and then different disposal post-process can be applied. In this paper, we propose a novel transfer learning approach to learn boundary-aware material segmentation from a meta-dataset and weakly annotated data. The proposed method is data-efficient, leveraging a publically available dataset for general computer vision tasks and coarsely labeled material reco