I do not know, considering I cannot find documentation on it you might want to ask if there is an export feature. However if its not in a format Firefox can import, I do not think so.

http://www.roboform.com/manual#idfiles Bookmarks files have a RFB extension.

Firefox would have no idea how to process that type of file format. Best to see Roboform support for more information and to inquire about converting that RFB format to the universal DOCTYPE NETSCAPE-Bookmark-file-1 html format which most web browsers can understand.