Yeah it has been covered, but I'll try to help you out.
If you ripped to a folder, the folder should contain a lot of files, .vob, .idx, ... etc.
If you ripped to a MKV, there will be a folder with one or more .mkv files in it. and you'll have to use a MKV Extract program to extract the files. Google MKV Extract, install, and figure out how to use it.
Anyway, eventually you will find a file with the extension .idx. That's the DVD file that coordinates with another file (extension .sub, if I remember) to implement DVD subtitles. There is a known bug in the Live/Live+ firmware dealing with the fourth of four colors in the subtitles, making color #4 always fully transparent. Depending on the DVD, that could be the text outline, the text fill, the character background, or the anti-alias color. If it is the anti-alias color, the subtitles will be pretty readable, but a little odd around the edges. If it is the outline color, the text won't be outlined, and may "disappear" into a background. If it is the fill color, the text will just be outlines, and often almost impossible to read. If it is the text background, all will be fine, and the subtitles will show just fine.
Obviously, in your case, it is the fill.
Ok, here is the workaround. Another member, "mjuhasz" has posted a special version of a program called BDSup2Sub. It can automatically edit the idx/sub file pair to repair the damage, by making sure that color #4 is the text background color: the one that really "wants" to be transparent.
The link to get to Mr. Juhasz's patch is: http://sw-planet.blogspot.com/2011/07/wdtv-live-subtitle-issues.html
I downloaded it, and used it. It works fine. It isn't quite as cumbersome a process as this all sounds, and it's really worth it for me. Someday, we hope, the WDC engineers will take this wonderful piece of debugging information that Mr. Juhasz has done for them, and fix the darn bug in the firmware. In the meantime, the patch, and a little fiddling around, will make these rips viewable.