diff --git a/amplify/utils/libero_utils/env_utils.py b/amplify/utils/libero_utils/env_utils.py
index 02efa8e..e45db6d 100644
--- a/amplify/utils/libero_utils/env_utils.py
+++ b/amplify/utils/libero_utils/env_utils.py
@@ -52,7 +52,16 @@ def get_task_emb(task_suite, task_name, dataset_path=None):
     task_file = f"{task_name}_demo.hdf5"
     task_file_path = os.path.join(task_suite_path, task_file)
     with h5py.File(task_file_path, 'r') as f:
-        task_emb = torch.tensor(f['text_emb'][()])
+        if 'text_emb' in f:
+            task_emb = torch.tensor(f['text_emb'][()])
+        else:
+            # Fallback to the preprocessed text embeddings if not in the dataset
+            root_dir = get_root_dir()
+            fallback_path = os.path.join(root_dir, 'preprocessed_data', task_suite, 'text', f'{task_name}.hdf5')
+            if not os.path.exists(fallback_path):
+                raise ValueError(f"text_emb not found in {task_file_path} and fallback text embedding missing at {fallback_path}. Please run: python -m preprocessing.preprocess_libero mode=text suite='{task_suite}'")
+            with h5py.File(fallback_path, 'r') as fallback_f:
+                task_emb = torch.tensor(fallback_f['text_emb'][()])
     
     return task_emb